486 lines
22 KiB
Rust
486 lines
22 KiB
Rust
#![cfg_attr(not(test), no_std)]
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#![cfg_attr(not(test), no_main)]
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#![feature(maybe_uninit_extra, maybe_uninit_ref, asm)]
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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,
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stm32::{CorePeripherals, Peripherals, SCB},
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time::{U32Ext, MegaHertz},
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watchdog::IndependentWatchdog,
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};
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use smoltcp::{
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time::Instant,
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socket::TcpSocket,
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wire::EthernetAddress,
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};
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use uom::{
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si::{
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f64::{
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ElectricCurrent,
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ElectricPotential,
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ElectricalResistance,
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ThermodynamicTemperature,
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},
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electric_current::ampere,
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electric_potential::volt,
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electrical_resistance::ohm,
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thermodynamic_temperature::degree_celsius,
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},
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};
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mod init_log;
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use init_log::init_log;
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mod usb;
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mod leds;
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mod pins;
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use pins::Pins;
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mod ad7172;
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mod ad5680;
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mod net;
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mod server;
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use server::Server;
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mod session;
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use session::{Session, SessionInput};
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mod command_parser;
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use command_parser::{Command, Ipv4Config, PwmPin, ShowCommand};
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mod timer;
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mod pid;
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mod steinhart_hart;
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mod channels;
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use channels::{CHANNELS, Channels};
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mod channel;
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mod channel_state;
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mod config;
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use config::ChannelConfig;
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mod flash_store;
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mod dfu;
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const HSE: MegaHertz = MegaHertz(8);
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#[cfg(not(feature = "semihosting"))]
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const WATCHDOG_INTERVAL: u32 = 1_000;
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#[cfg(feature = "semihosting")]
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const WATCHDOG_INTERVAL: u32 = 30_000;
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const CHANNEL_CONFIG_KEY: [&str; 2] = ["ch0", "ch1"];
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const TCP_PORT: u16 = 23;
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fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
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let send_free = socket.send_capacity() - socket.send_queue();
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if data.len() > send_free + 1 {
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// Not enough buffer space, skip report for now,
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// instead of sending incomplete line
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warn!(
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"TCP socket has only {}/{} needed {}",
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send_free + 1, socket.send_capacity(), data.len(),
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);
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} else {
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match socket.send_slice(&data) {
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Ok(sent) if sent == data.len() => {
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let _ = socket.send_slice(b"\n");
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// success
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return true
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}
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Ok(sent) =>
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warn!("sent only {}/{} bytes", sent, data.len()),
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Err(e) =>
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error!("error sending line: {:?}", e),
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}
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}
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// not success
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false
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}
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/// Initialization and main loop
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#[cfg(not(test))]
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#[entry]
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fn main() -> ! {
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init_log();
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info!("thermostat");
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let mut cp = CorePeripherals::take().unwrap();
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cp.SCB.enable_icache();
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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
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.use_hse(HSE)
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.sysclk(168.mhz())
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.hclk(168.mhz())
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.pclk1(32.mhz())
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.pclk2(64.mhz())
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.freeze();
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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);
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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,
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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,
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dp.OTG_FS_DEVICE,
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dp.OTG_FS_PWRCLK,
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);
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leds.r1.on();
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leds.g3.off();
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leds.g4.off();
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usb::State::setup(usb);
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let mut store = flash_store::store(dp.FLASH);
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let mut store_value_buf = [0u8; 256];
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let mut channels = Channels::new(pins);
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for c in 0..CHANNELS {
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match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
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Ok(Some(config)) =>
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config.apply(&mut channels, c),
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Ok(None) =>
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error!("flash config not found for channel {}", c),
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Err(e) =>
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error!("unable to load config {} from flash: {:?}", c, e),
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}
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}
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// default net config:
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let mut ipv4_config = Ipv4Config {
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address: [192, 168, 1, 26],
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mask_len: 24,
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gateway: None,
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};
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match store.read_value("ipv4") {
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Ok(Some(config)) =>
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ipv4_config = config,
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Ok(None) => {}
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Err(e) =>
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error!("cannot read ipv4 config: {:?}", e),
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}
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// EEPROM ships with a read-only EUI-48 identifier
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let mut eui48 = [0; 6];
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eeprom.read_data(0xFA, &mut eui48).unwrap();
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let hwaddr = EthernetAddress(eui48);
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info!("EEPROM MAC address: {}", hwaddr);
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net::run(clocks, dp.ETHERNET_MAC, dp.ETHERNET_DMA, eth_pins, hwaddr, ipv4_config.clone(), |iface| {
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Server::<Session>::run(iface, |server| {
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leds.r1.off();
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loop {
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let mut new_ipv4_config = None;
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let instant = Instant::from_millis(i64::from(timer::now()));
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let updated_channel = channels.poll_adc(instant);
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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()));
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cortex_m::interrupt::free(net::clear_pending);
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server.poll(instant)
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.unwrap_or_else(|e| {
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warn!("poll: {:?}", e);
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});
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// TCP protocol handling
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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();
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} else if socket.may_send() && !socket.may_recv() {
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socket.close()
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} else if socket.can_send() && socket.can_recv() {
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match socket.recv(|buf| session.feed(buf)) {
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Ok(SessionInput::Nothing) => {
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send_line(&mut socket, b"{}");
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}
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Ok(SessionInput::Command(command)) => match command {
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Command::Quit =>
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socket.close(),
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Command::Reporting(_reporting) => {
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// handled by session
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send_line(&mut socket, b"{}");
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}
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Command::Show(ShowCommand::Reporting) => {
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let _ = writeln!(socket, "{{ \"report\": {:?} }}", session.reporting());
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}
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Command::Show(ShowCommand::Input) => {
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match channels.reports_json() {
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Ok(buf) => {
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send_line(&mut socket, &buf[..]);
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}
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Err(e) => {
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error!("unable to serialize report: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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}
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Command::Show(ShowCommand::Pid) => {
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match channels.pid_summaries_json() {
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Ok(buf) => {
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send_line(&mut socket, &buf);
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}
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Err(e) => {
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error!("unable to serialize pid summary: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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}
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Command::Show(ShowCommand::Pwm) => {
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match channels.pwm_summaries_json() {
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Ok(buf) => {
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send_line(&mut socket, &buf);
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}
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Err(e) => {
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error!("unable to serialize pwm summary: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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}
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Command::Show(ShowCommand::SteinhartHart) => {
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match channels.steinhart_hart_summaries_json() {
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Ok(buf) => {
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send_line(&mut socket, &buf);
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}
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Err(e) => {
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error!("unable to serialize steinhart-hart summaries: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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}
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Command::Show(ShowCommand::PostFilter) => {
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match channels.postfilter_summaries_json() {
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Ok(buf) => {
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send_line(&mut socket, &buf);
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}
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Err(e) => {
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error!("unable to serialize postfilter summary: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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}
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Command::Show(ShowCommand::Ipv4) => {
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let (cidr, gateway) = net::split_ipv4_config(ipv4_config.clone());
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let _ = write!(socket, "{{\"addr\":\"{}\"", cidr);
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gateway.map(|gateway| write!(socket, ",\"gateway\":\"{}\"", gateway));
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let _ = writeln!(socket, "}}");
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}
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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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send_line(&mut socket, b"{}");
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}
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Command::Pwm { channel, pin, value } => {
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match pin {
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PwmPin::ISet => {
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channels.channel_state(channel).pid_engaged = false;
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leds.g3.off();
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let current = ElectricCurrent::new::<ampere>(value);
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channels.set_i(channel, current);
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channels.power_up(channel);
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}
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PwmPin::MaxV => {
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let voltage = ElectricPotential::new::<volt>(value);
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channels.set_max_v(channel, voltage);
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}
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PwmPin::MaxIPos => {
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let current = ElectricCurrent::new::<ampere>(value);
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channels.set_max_i_pos(channel, current);
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}
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PwmPin::MaxINeg => {
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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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send_line(&mut socket, b"{}");
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}
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Command::CenterPoint { channel, center } => {
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let (i_tec, _) = channels.get_i(channel);
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let state = channels.channel_state(channel);
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state.center = center;
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if !state.pid_engaged {
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channels.set_i(channel, i_tec);
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}
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send_line(&mut socket, b"{}");
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}
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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::*;
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match parameter {
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Target =>
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pid.target = value,
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KP =>
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pid.parameters.kp = value as f32,
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KI =>
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pid.update_ki(value as f32),
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KD =>
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pid.parameters.kd = value as f32,
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OutputMin =>
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pid.parameters.output_min = value as f32,
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OutputMax =>
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pid.parameters.output_max = value as f32,
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IntegralMin =>
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pid.parameters.integral_min = value as f32,
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IntegralMax =>
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pid.parameters.integral_max = value as f32,
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}
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send_line(&mut socket, b"{}");
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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::*;
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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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send_line(&mut socket, b"{}");
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}
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Command::PostFilter { channel, rate: None } => {
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channels.adc.set_postfilter(channel as u8, None).unwrap();
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send_line(&mut socket, b"{}");
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}
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Command::PostFilter { channel, rate: Some(rate) } => {
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let filter = ad7172::PostFilter::closest(rate);
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match filter {
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Some(filter) => {
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channels.adc.set_postfilter(channel as u8, Some(filter)).unwrap();
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send_line(&mut socket, b"{}");
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}
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None => {
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error!("unable to choose postfilter for rate {:.3}", rate);
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send_line(&mut socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
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}
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}
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}
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Command::Load { channel } => {
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for c in 0..CHANNELS {
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if channel.is_none() || channel == Some(c) {
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match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
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Ok(Some(config)) => {
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config.apply(&mut channels, c);
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send_line(&mut socket, b"{}");
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}
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Ok(None) => {
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error!("flash config not found");
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send_line(&mut socket, b"{{\"error\": \"flash config not found\"}}");
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}
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Err(e) => {
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error!("unable to load config from flash: {:?}", e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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}
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}
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}
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Command::Save { channel } => {
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for c in 0..CHANNELS {
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if channel.is_none() || channel == Some(c) {
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let config = ChannelConfig::new(&mut channels, c);
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match store.write_value(CHANNEL_CONFIG_KEY[c], &config, &mut store_value_buf) {
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Ok(()) => {
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send_line(&mut socket, b"{}");
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}
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Err(e) => {
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error!("unable to save channel {} config to flash: {:?}", c, e);
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let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
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}
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}
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}
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}
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}
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Command::Ipv4(config) => {
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let _ = store
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.write_value("ipv4", &config, [0; 16])
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.map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
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new_ipv4_config = Some(config);
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send_line(&mut socket, b"{}");
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}
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Command::Reset => {
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for i in 0..CHANNELS {
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channels.power_down(i);
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}
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SCB::sys_reset();
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}
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Command::Dfu => {
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for i in 0..CHANNELS {
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channels.power_down(i);
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}
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unsafe {
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dfu::set_dfu_trigger();
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}
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SCB::sys_reset();
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}
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}
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Ok(SessionInput::Error(e)) => {
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error!("session input: {:?}", e);
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send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
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}
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Err(_) =>
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socket.close(),
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}
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} else if socket.can_send() {
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if let Some(channel) = session.is_report_pending() {
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match channels.reports_json() {
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Ok(buf) => {
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send_line(&mut socket, &buf[..]);
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session.mark_report_sent(channel);
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}
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Err(e) => {
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error!("unable to serialize report: {:?}", e);
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}
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}
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}
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}
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});
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// Apply new IPv4 address/gateway
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new_ipv4_config.take()
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.map(|config| {
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server.set_ipv4_config(config.clone());
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ipv4_config = config;
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});
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// Update watchdog
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wd.feed();
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leds.g4.off();
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cortex_m::interrupt::free(|cs| {
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if !net::is_pending(cs) {
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// Wait for interrupts
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// (Ethernet, SysTick, or USB)
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wfi();
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}
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});
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leds.g4.on();
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}
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});
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});
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unreachable!()
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}
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