#![no_std] #![no_main] // TODO: #![deny(warnings, unused)] #[cfg(not(feature = "semihosting"))] use panic_abort as _; #[cfg(feature = "semihosting")] use panic_semihosting as _; use log::{info, warn}; use core::ops::DerefMut; use core::fmt::Write; use cortex_m::asm::wfi; use cortex_m_rt::entry; use stm32f4xx_hal::{ hal::{ self, watchdog::{WatchdogEnable, Watchdog}, }, rcc::RccExt, watchdog::IndependentWatchdog, time::{U32Ext, MegaHertz}, stm32::{CorePeripherals, Peripherals}, }; use smoltcp::{ time::Instant, wire::EthernetAddress, }; mod init_log; use init_log::init_log; mod pins; use pins::Pins; mod softspi; mod ad7172; mod ad5680; mod net; mod server; use server::Server; mod session; use session::{Session, SessionOutput}; mod command_parser; use command_parser::{Command, ShowCommand, PwmPin}; mod timer; mod units; use units::{Ohms, Volts}; mod pid; mod steinhart_hart; mod channels; use channels::{CHANNELS, Channels}; mod channel; mod channel_state; const HSE: MegaHertz = MegaHertz(8); #[cfg(not(feature = "semihosting"))] const WATCHDOG_INTERVAL: u32 = 100; #[cfg(feature = "semihosting")] const WATCHDOG_INTERVAL: u32 = 30_000; #[cfg(not(feature = "generate-hwaddr"))] const NET_HWADDR: [u8; 6] = [0x02, 0x00, 0xDE, 0xAD, 0xBE, 0xEF]; const TCP_PORT: u16 = 23; /// Initialization and main loop #[entry] fn main() -> ! { init_log(); info!("tecpak"); let mut cp = CorePeripherals::take().unwrap(); cp.SCB.enable_icache(); cp.SCB.enable_dcache(&mut cp.CPUID); let dp = Peripherals::take().unwrap(); stm32_eth::setup(&dp.RCC, &dp.SYSCFG); let clocks = dp.RCC.constrain() .cfgr .use_hse(HSE) .sysclk(168.mhz()) .hclk(168.mhz()) .pclk1(32.mhz()) .pclk2(64.mhz()) .freeze(); let mut wd = IndependentWatchdog::new(dp.IWDG); wd.start(WATCHDOG_INTERVAL.ms()); wd.feed(); timer::setup(cp.SYST, clocks); let pins = Pins::setup( clocks, dp.TIM1, dp.TIM3, dp.GPIOA, dp.GPIOB, dp.GPIOC, dp.GPIOE, dp.GPIOF, dp.GPIOG, dp.SPI2, dp.SPI4, dp.SPI5, dp.ADC1, dp.ADC2, dp.ADC3, ); let mut channels = Channels::new(pins); channels.calibrate_dac_value(0); #[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); net::run(dp.ETHERNET_MAC, dp.ETHERNET_DMA, hwaddr, |iface| { Server::::run(iface, |server| { loop { let instant = Instant::from_millis(i64::from(timer::now())); let updated_channel = channels.poll_adc(instant); if let Some(channel) = updated_channel { server.for_each(|_, session| session.set_report_pending(channel.into())); } 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); }); // TCP protocol handling server.for_each(|mut socket, session| { if ! socket.is_active() { let _ = socket.listen(TCP_PORT); session.reset(); } else if socket.can_send() && socket.can_recv() && socket.send_capacity() - socket.send_queue() > 1024 { 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 in 0..CHANNELS { if let Some(adc_data) = channels.channel_state(channel).adc_data { let vref = channels.read_vref(channel); let dac_feedback = channels.read_dac_feedback(channel); let itec = channels.read_itec(channel); let tec_i = -(itec - Volts(1.5)) / Ohms(0.4); let tec_u_meas = channels.read_tec_u_meas(channel); let state = channels.channel_state(channel); let _ = writeln!( socket, "t={} adc_raw{}=0x{:06X} vref={} dac_feedback={} itec={} tec={} tec_u_meas={}", state.adc_time, channel, adc_data, vref, dac_feedback, itec, tec_i, tec_u_meas, ); } } } Command::Show(ShowCommand::Pid) => { for channel in 0..CHANNELS { let state = channels.channel_state(channel); let _ = writeln!(socket, "PID settings for channel {}", channel); let pid = &state.pid; let _ = writeln!(socket, "- target={:.4}", pid.target); macro_rules! show_pid_parameter { ($p: tt) => { let _ = writeln!( socket, "- {}={:.4}", stringify!($p), pid.parameters.$p ); }; } show_pid_parameter!(kp); show_pid_parameter!(ki); show_pid_parameter!(kd); show_pid_parameter!(integral_min); show_pid_parameter!(integral_max); show_pid_parameter!(output_min); show_pid_parameter!(output_max); if let Some(last_output) = pid.last_output { let _ = writeln!(socket, "- last_output={:.4}", last_output); } let _ = writeln!(socket, ""); } } Command::Show(ShowCommand::Pwm) => { for channel in 0..CHANNELS { let state = channels.channel_state(channel); let _ = writeln!( socket, "channel {}: PID={}", channel, if state.pid_engaged { "engaged" } else { "disengaged" } ); let _ = writeln!(socket, "- i_set={}", state.dac_value); fn show_pwm_channel(mut socket: S, name: &str, pin: &P) where S: core::fmt::Write, P: hal::PwmPin, { let _ = writeln!( socket, "- {}={}/{}", name, pin.get_duty(), pin.get_max_duty() ); } match channel { 0 => { show_pwm_channel(socket.deref_mut(), "max_v", &channels.pwm.max_v0); show_pwm_channel(socket.deref_mut(), "max_i_pos", &channels.pwm.max_i_pos0); show_pwm_channel(socket.deref_mut(), "max_i_neg", &channels.pwm.max_i_neg0); } 1 => { show_pwm_channel(socket.deref_mut(), "max_v", &channels.pwm.max_v1); show_pwm_channel(socket.deref_mut(), "max_i_pos", &channels.pwm.max_i_pos1); show_pwm_channel(socket.deref_mut(), "max_i_neg", &channels.pwm.max_i_neg1); } _ => unreachable!(), } let _ = writeln!(socket, ""); } } Command::Show(ShowCommand::SteinhartHart) => { for channel in 0..CHANNELS { let state = channels.channel_state(channel); let _ = writeln!( socket, "channel {}: Steinhart-Hart equation parameters", channel, ); let _ = writeln!(socket, "- t0={}", state.sh.t0); let _ = writeln!(socket, "- b={}", state.sh.b); let _ = writeln!(socket, "- r0={}", state.sh.r0); let _ = writeln!(socket, ""); } } Command::Show(ShowCommand::PostFilter) => { for channel in 0..CHANNELS { match channels.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::PwmPid { channel } => { channels.channel_state(channel).pid_engaged = true; let _ = writeln!(socket, "channel {}: PID enabled to control PWM", channel ); } Command::Pwm { channel, pin: PwmPin::ISet, duty } => { channels.channel_state(channel).pid_engaged = false; let voltage = Volts(duty); channels.set_dac(channel, voltage); let _ = writeln!( socket, "channel {}: PWM duty cycle manually set to {}", channel, voltage ); } Command::Pwm { channel, pin, duty } => { fn set_pwm_channel>(pin: &mut P, duty: f64) -> (u16, u16) { let max = pin.get_max_duty(); let value = (duty * (max as f64)) as u16; pin.set_duty(value); (value, max) } let (value, max) = match (channel, pin) { (_, PwmPin::ISet) => // Handled above unreachable!(), (0, PwmPin::MaxIPos) => set_pwm_channel(&mut channels.pwm.max_i_pos0, duty), (0, PwmPin::MaxINeg) => set_pwm_channel(&mut channels.pwm.max_i_neg0, duty), (0, PwmPin::MaxV) => set_pwm_channel(&mut channels.pwm.max_v0, duty), (1, PwmPin::MaxIPos) => set_pwm_channel(&mut channels.pwm.max_i_pos1, duty), (1, PwmPin::MaxINeg) => set_pwm_channel(&mut channels.pwm.max_i_neg1, duty), (1, PwmPin::MaxV) => set_pwm_channel(&mut channels.pwm.max_v1, duty), _ => unreachable!(), }; let _ = writeln!( socket, "channel {}: PWM {} reconfigured to {}/{}", channel, pin.name(), value, max ); } Command::Pid { channel, parameter, value } => { let pid = &mut channels.channel_state(channel).pid; use command_parser::PidParameter::*; match parameter { Target => pid.target = value, KP => pid.parameters.kp = value, KI => pid.parameters.ki = value, KD => pid.parameters.kd = value, OutputMin => pid.parameters.output_min = value, OutputMax => pid.parameters.output_max = value, IntegralMin => pid.parameters.integral_min = value, IntegralMax => pid.parameters.integral_max = value, } // TODO: really reset PID state // after each parameter change? pid.reset(); let _ = writeln!(socket, "PID parameter updated"); } Command::SteinhartHart { channel, parameter, value } => { let sh = &mut channels.channel_state(channel).sh; use command_parser::ShParameter::*; match parameter { T0 => sh.t0 = value, B => sh.b = value, R0 => sh.r0 = value, } let _ = writeln!(socket, "Steinhart-Hart equation parameter updated"); } Command::PostFilter { channel, rate } => { let filter = ad7172::PostFilter::closest(rate); match filter { Some(filter) => { channels.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 channels.channel_state(usize::from(channel)); let _ = writeln!( socket, "t={} raw{}=0x{:06X}", state.adc_time, channel, state.adc_data.unwrap_or(0) ).map(|_| { session.mark_report_sent(channel); }); } } }); // Update watchdog wd.feed(); cortex_m::interrupt::free(|cs| { if !net::is_pending(cs) { // Wait for interrupts // (Ethernet or SysTick) wfi(); } }); } }); }); unreachable!() }