thermostat/src/main.rs

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#![cfg_attr(not(test), no_std)]
#![cfg_attr(not(test), no_main)]
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#![feature(maybe_uninit_extra, maybe_uninit_ref)]
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#![cfg_attr(test, allow(unused))]
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// TODO: #![deny(warnings, unused)]
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#[cfg(not(any(feature = "semihosting", test)))]
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use panic_abort as _;
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#[cfg(all(feature = "semihosting", not(test)))]
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use panic_semihosting as _;
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use log::{error, 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 stm32f4xx_hal::{
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hal::watchdog::{WatchdogEnable, Watchdog},
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rcc::RccExt,
watchdog::IndependentWatchdog,
time::{U32Ext, MegaHertz},
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stm32::{CorePeripherals, Peripherals, SCB},
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};
use smoltcp::{
time::Instant,
socket::TcpSocket,
wire::{EthernetAddress, Ipv4Address},
};
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use uom::{
si::{
f64::{
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ElectricCurrent,
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ElectricPotential,
ElectricalResistance,
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ThermodynamicTemperature,
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},
electric_current::ampere,
electric_potential::volt,
electrical_resistance::ohm,
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thermodynamic_temperature::degree_celsius,
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},
};
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mod init_log;
use init_log::init_log;
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mod usb;
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mod leds;
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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::{Session, SessionInput};
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mod command_parser;
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use command_parser::{Command, ShowCommand, PwmPin};
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mod timer;
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mod pid;
mod steinhart_hart;
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mod channels;
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use channels::{CHANNELS, Channels};
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mod channel;
mod channel_state;
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mod config;
use config::Config;
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const HSE: MegaHertz = MegaHertz(8);
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#[cfg(not(feature = "semihosting"))]
const WATCHDOG_INTERVAL: u32 = 1_000;
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#[cfg(feature = "semihosting")]
const WATCHDOG_INTERVAL: u32 = 30_000;
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pub const EEPROM_PAGE_SIZE: usize = 8;
pub const EEPROM_SIZE: usize = 128;
pub const DEFAULT_IPV4_ADDRESS: Ipv4Address = Ipv4Address([192, 168, 1, 26]);
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const TCP_PORT: u16 = 23;
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fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
let send_free = socket.send_capacity() - socket.send_queue();
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if data.len() > send_free + 1 {
// Not enough buffer space, skip report for now
warn!(
"TCP socket has only {}/{} needed {}",
send_free + 1, socket.send_capacity(), data.len(),
);
} else {
match socket.send_slice(&data) {
Ok(sent) if sent == data.len() => {
let _ = socket.send_slice(b"\n");
// success
return true
}
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Ok(sent) =>
warn!("sent only {}/{} bytes", sent, data.len()),
Err(e) =>
error!("error sending line: {:?}", e),
}
}
// not success
false
}
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fn report_to(channel: usize, channels: &mut Channels, socket: &mut TcpSocket) -> bool {
match channels.report(channel).to_json() {
Ok(buf) =>
send_line(socket, &buf[..]),
Err(e) => {
error!("unable to serialize report: {:?}", e);
false
}
}
}
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/// Initialization and main loop
#[cfg(not(test))]
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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();
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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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timer::setup(cp.SYST, clocks);
let (pins, mut leds, mut eeprom, eth_pins, usb) = Pins::setup(
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clocks, dp.TIM1, dp.TIM3,
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dp.GPIOA, dp.GPIOB, dp.GPIOC, dp.GPIOD, dp.GPIOE, dp.GPIOF, dp.GPIOG,
dp.I2C1,
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dp.SPI2, dp.SPI4, dp.SPI5,
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dp.ADC1,
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dp.OTG_FS_GLOBAL,
dp.OTG_FS_DEVICE,
dp.OTG_FS_PWRCLK,
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);
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leds.r1.on();
leds.g3.off();
leds.g4.off();
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usb::State::setup(usb);
let mut ipv4_address = DEFAULT_IPV4_ADDRESS;
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let mut channels = Channels::new(pins);
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let _ = Config::load(&mut eeprom)
.map(|config| {
config.apply(&mut channels);
ipv4_address = Ipv4Address::from_bytes(&config.ipv4_address);
})
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.map_err(|e| warn!("error loading config: {:?}", e));
info!("IPv4 address: {}", ipv4_address);
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// EEPROM ships with a read-only EUI-48 identifier
let mut eui48 = [0; 6];
eeprom.read_data(0xFA, &mut eui48).unwrap();
let hwaddr = EthernetAddress(eui48);
info!("EEPROM MAC address: {}", hwaddr);
net::run(clocks, dp.ETHERNET_MAC, dp.ETHERNET_DMA, eth_pins, hwaddr, ipv4_address, |iface| {
let mut new_ipv4_address = None;
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Server::<Session>::run(iface, |server| {
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leds.r1.off();
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loop {
let instant = Instant::from_millis(i64::from(timer::now()));
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let updated_channel = channels.poll_adc(instant);
if let Some(channel) = updated_channel {
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server.for_each(|_, session| session.set_report_pending(channel.into()));
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}
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let instant = Instant::from_millis(i64::from(timer::now()));
cortex_m::interrupt::free(net::clear_pending);
server.poll(instant)
.unwrap_or_else(|e| {
warn!("poll: {:?}", e);
});
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// TCP protocol handling
server.for_each(|mut socket, session| {
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if ! socket.is_active() {
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let _ = socket.listen(TCP_PORT);
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session.reset();
} else if socket.may_send() && !socket.may_recv() {
socket.close()
} else if socket.can_send() && socket.can_recv() {
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match socket.recv(|buf| session.feed(buf)) {
Ok(SessionInput::Nothing) => {}
Ok(SessionInput::Command(command)) => match command {
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Command::Quit =>
socket.close(),
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Command::Reporting(_reporting) => {
// handled by session
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}
Command::Show(ShowCommand::Reporting) => {
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let _ = writeln!(socket, "{{ \"report\": {:?} }}", session.reporting());
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}
Command::Show(ShowCommand::Input) => {
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for channel in 0..CHANNELS {
report_to(channel, &mut channels, &mut socket);
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}
}
Command::Show(ShowCommand::Pid) => {
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for channel in 0..CHANNELS {
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match channels.channel_state(channel).pid.summary(channel).to_json() {
Ok(buf) => {
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send_line(&mut socket, &buf);
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}
Err(e) =>
error!("unable to serialize pid summary: {:?}", e),
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}
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}
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}
Command::Show(ShowCommand::Pwm) => {
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for channel in 0..CHANNELS {
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match channels.pwm_summary(channel).to_json() {
Ok(buf) => {
send_line(&mut socket, &buf);
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}
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Err(e) =>
error!("unable to serialize pwm summary: {:?}", e),
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}
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}
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}
Command::Show(ShowCommand::SteinhartHart) => {
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for channel in 0..CHANNELS {
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match channels.steinhart_hart_summary(channel).to_json() {
Ok(buf) => {
send_line(&mut socket, &buf);
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}
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Err(e) =>
error!("unable to serialize steinhart-hart summary: {:?}", e),
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}
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}
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}
Command::Show(ShowCommand::PostFilter) => {
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for channel in 0..CHANNELS {
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match channels.postfilter_summary(channel).to_json() {
Ok(buf) => {
send_line(&mut socket, &buf);
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}
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Err(e) =>
error!("unable to serialize postfilter summary: {:?}", e),
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}
}
}
Command::PwmPid { channel } => {
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channels.channel_state(channel).pid_engaged = true;
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leds.g3.on();
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}
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Command::Pwm { channel, pin, value } => {
match pin {
PwmPin::ISet => {
channels.channel_state(channel).pid_engaged = false;
leds.g3.off();
let current = ElectricCurrent::new::<ampere>(value);
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channels.set_i(channel, current);
channels.power_up(channel);
}
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PwmPin::MaxV => {
let voltage = ElectricPotential::new::<volt>(value);
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channels.set_max_v(channel, voltage);
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}
PwmPin::MaxIPos => {
let current = ElectricCurrent::new::<ampere>(value);
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channels.set_max_i_pos(channel, current);
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}
PwmPin::MaxINeg => {
let current = ElectricCurrent::new::<ampere>(value);
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channels.set_max_i_neg(channel, current);
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}
}
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}
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Command::CenterPoint { channel, center } => {
let (i_tec, _) = channels.get_i(channel);
let state = channels.channel_state(channel);
state.center = center;
if !state.pid_engaged {
channels.set_i(channel, i_tec);
}
}
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Command::Pid { channel, parameter, value } => {
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let pid = &mut channels.channel_state(channel).pid;
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use command_parser::PidParameter::*;
match parameter {
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Target => {
pid.target = value;
// reset pid.integral
pid.reset();
}
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KP =>
pid.parameters.kp = value as f32,
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KI =>
pid.parameters.ki = value as f32,
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KD =>
pid.parameters.kd = value as f32,
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OutputMin =>
pid.parameters.output_min = value as f32,
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OutputMax =>
pid.parameters.output_max = value as f32,
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IntegralMin =>
pid.parameters.integral_min = value as f32,
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IntegralMax =>
pid.parameters.integral_max = value as f32,
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}
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}
Command::SteinhartHart { channel, parameter, value } => {
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let sh = &mut channels.channel_state(channel).sh;
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use command_parser::ShParameter::*;
match parameter {
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T0 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
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B => sh.b = value,
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R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
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}
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}
Command::PostFilter { channel, rate: None } => {
channels.adc.set_postfilter(channel as u8, None).unwrap();
}
Command::PostFilter { channel, rate: Some(rate) } => {
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let filter = ad7172::PostFilter::closest(rate);
match filter {
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Some(filter) =>
channels.adc.set_postfilter(channel as u8, Some(filter)).unwrap(),
None =>
error!("unable to choose postfilter for rate {:.3}", rate),
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}
}
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Command::Load => {
match Config::load(&mut eeprom) {
Ok(config) => {
config.apply(&mut channels);
new_ipv4_address = Some(Ipv4Address::from_bytes(&config.ipv4_address));
}
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Err(e) =>
error!("unable to load eeprom config: {:?}", e),
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}
}
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Command::Save => {
let config = Config::new(&mut channels, ipv4_address);
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match config.save(&mut eeprom) {
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Ok(()) => {},
Err(e) =>
error!("unable to save eeprom config: {:?}", e),
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}
}
Command::Ipv4(address) => {
new_ipv4_address = Some(Ipv4Address::from_bytes(&address));
}
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Command::Reset => {
for i in 0..CHANNELS {
channels.power_down(i);
}
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SCB::sys_reset();
}
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}
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Ok(SessionInput::Error(e)) =>
error!("session input: {:?}", e),
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Err(_) =>
socket.close(),
}
} else if socket.can_send() {
if let Some(channel) = session.is_report_pending() {
if report_to(channel, &mut channels, &mut socket) {
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session.mark_report_sent(channel);
}
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}
}
});
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// Apply new IPv4 address
new_ipv4_address.map(|ipv4_address|
server.set_ipv4_address(ipv4_address)
);
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// Update watchdog
wd.feed();
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leds.g4.off();
cortex_m::interrupt::free(|cs| {
if !net::is_pending(cs) {
// Wait for interrupts
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// (Ethernet, SysTick, or USB)
wfi();
}
});
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leds.g4.on();
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}
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});
});
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unreachable!()
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}