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rm examples

This commit is contained in:
occheung 2020-09-25 11:03:09 +08:00
parent 09686e6940
commit 5a2770b825
8 changed files with 0 additions and 1561 deletions
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398
examples/ethernet.rs
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#![no_main]
#![no_std]
use core::sync::atomic::{AtomicU32, Ordering};
#[macro_use]
extern crate log;
use cortex_m;
use cortex_m_rt::{
entry,
exception,
};
extern crate smoltcp;
use stm32h7xx_hal::ethernet;
use stm32h7xx_hal::hal::digital::v2::InputPin;
use stm32h7xx_hal::rcc::CoreClocks;
use stm32h7xx_hal::{pac, prelude::*, spi, stm32, stm32::interrupt};
use core::{
str,
fmt::Write
};
use core::mem::uninitialized;
// Exception: no phy::wait
//use smoltcp::phy::wait as phy_wait;
use smoltcp::wire::{IpAddress, IpCidr};
use smoltcp::iface::{NeighborCache, EthernetInterfaceBuilder};
use smoltcp::socket::SocketSet;
use smoltcp::socket::{SocketHandle, TcpSocket, TcpSocketBuffer};
use smoltcp::time::{Duration, Instant};
// use smoltcp::log;
// Use embedded-nal to access smoltcp
use embedded_nal::TcpStack;
use firmware;
use firmware::{
cpld::{
CPLD,
},
scpi::{
HelloWorldCommand,
Channel0SwitchCommand,
Channel1SwitchCommand,
Channel2SwitchCommand,
Channel3SwitchCommand,
Channel0SystemClockCommand,
Channel0AttenuationCommand,
Channel1AttenuationCommand,
Channel2AttenuationCommand,
Channel3AttenuationCommand,
ClockSourceCommand,
ClockDivisionCommand,
ProfileCommand,
Channel0Profile0SingletoneCommand,
Channel0Profile0SingletoneFrequencyCommand,
Channel0Profile0SingletonePhaseCommand,
Channel0Profile0SingletoneAmplitudeCommand
},
Urukul, scpi_root, recursive_scpi_tree, scpi_tree
};
use scpi::prelude::*;
use scpi::ieee488::commands::*;
use scpi::scpi::commands::*;
use scpi::{
ieee488_cls,
ieee488_ese,
ieee488_esr,
ieee488_idn,
ieee488_opc,
ieee488_rst,
ieee488_sre,
ieee488_stb,
ieee488_tst,
ieee488_wai,
scpi_crate_version,
scpi_status,
scpi_system,
};
#[path = "util/logger.rs"]
mod logger;
/// Configure SYSTICK for 1ms timebase
fn systick_init(syst: &mut stm32::SYST, clocks: CoreClocks) {
let c_ck_mhz = clocks.c_ck().0 / 1_000_000;
let syst_calib = 0x3E8;
syst.set_clock_source(cortex_m::peripheral::syst::SystClkSource::Core);
syst.set_reload((syst_calib * c_ck_mhz) - 1);
syst.enable_interrupt();
syst.enable_counter();
}
/// ======================================================================
/// Entry point
/// ======================================================================
/// TIME is an atomic u32 that counts milliseconds. Although not used
/// here, it is very useful to have for network protocols
static TIME: AtomicU32 = AtomicU32::new(0);
/// Locally administered MAC address
const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
/// Ethernet descriptor rings are a global singleton
#[link_section = ".sram3.eth"]
static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
// Theoratical maximum number of socket that can be handled
const SOCKET_COUNT: usize = 2;
// Give buffer sizes of transmitting and receiving TCP packets
const BUFFER_SIZE: usize = 2048;
// the program entry point
#[entry]
fn main() -> ! {
// logger::semihosting_init();
let mut cp = cortex_m::Peripherals::take().unwrap();
let dp = pac::Peripherals::take().unwrap();
// Initialise power...
let pwr = dp.PWR.constrain();
let vos = pwr.freeze();
// Initialise SRAM3
dp.RCC.ahb2enr.modify(|_, w| w.sram3en().set_bit());
// Initialise clocks...
let rcc = dp.RCC.constrain();
let ccdr = rcc
.use_hse(8.mhz())
.sys_ck(200.mhz())
.hclk(200.mhz())
.pll1_r_ck(400.mhz()) // for TRACECK
.pll1_q_ck(48.mhz()) // for SPI
.freeze(vos, &dp.SYSCFG);
unsafe {
logger::enable_itm(&dp.DBGMCU, &mut cp.DCB, &mut cp.ITM);
}
// Get the delay provider.
let delay = cp.SYST.delay(ccdr.clocks);
// Initialise system...
cp.SCB.invalidate_icache();
cp.SCB.enable_icache();
cp.DWT.enable_cycle_counter();
// Initialise IO...
let gpioa = dp.GPIOA.split(ccdr.peripheral.GPIOA);
let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
let gpioc = dp.GPIOC.split(ccdr.peripheral.GPIOC);
let gpiod = dp.GPIOD.split(ccdr.peripheral.GPIOD);
let gpioe = dp.GPIOE.split(ccdr.peripheral.GPIOE);
let gpiof = dp.GPIOF.split(ccdr.peripheral.GPIOF);
let gpiog = dp.GPIOG.split(ccdr.peripheral.GPIOG);
// gpiob.pb3.into_alternate_af0().set_speed(Speed::VeryHigh);
logger::init();
// Setup CDONE for checking
let fpga_cdone = gpiod.pd15.into_pull_up_input();
match fpga_cdone.is_high() {
Ok(true) => debug!("FPGA is ready."),
Ok(_) => debug!("FPGA is in reset state."),
Err(_) => debug!("Error: Cannot read C_DONE"),
};
// Setup Urukul
/*
* Using SPI1, AF5
* SCLK -> PA5
* MOSI -> PB5
* MISO -> PA6
* CS -> 0: PB12, 1: PA15, 2: PC7
*/
let sclk = gpioa.pa5.into_alternate_af5();
let mosi = gpiob.pb5.into_alternate_af5();
let miso = gpioa.pa6.into_alternate_af5();
let (cs0, cs1, cs2) = (
gpiob.pb12.into_push_pull_output(),
gpioa.pa15.into_push_pull_output(),
gpioc.pc7.into_push_pull_output(),
);
/*
* I/O_Update -> PB15
*/
let io_update = gpiob.pb15.into_push_pull_output();
let spi = dp.SPI1.spi(
(sclk, miso, mosi),
spi::MODE_0,
3.mhz(),
ccdr.peripheral.SPI1,
&ccdr.clocks,
);
let switch = CPLD::new(spi, (cs0, cs1, cs2), io_update);
let parts = switch.split();
let mut urukul = Urukul::new(
parts.spi1, parts.spi2, parts.spi3, parts.spi4, parts.spi5, parts.spi6, parts.spi7
);
// Setup ethernet pins
setup_ethernet_pins(
gpioa.pa1, gpioa.pa2, gpioc.pc1, gpioa.pa7, gpioc.pc4,
gpioc.pc5, gpiog.pg11, gpiog.pg13, gpiob.pb13
);
// Initialise ethernet...
assert_eq!(ccdr.clocks.hclk().0, 200_000_000); // HCLK 200MHz
assert_eq!(ccdr.clocks.pclk1().0, 100_000_000); // PCLK 100MHz
assert_eq!(ccdr.clocks.pclk2().0, 100_000_000); // PCLK 100MHz
assert_eq!(ccdr.clocks.pclk4().0, 100_000_000); // PCLK 100MHz
let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
let (_eth_dma, mut eth_mac) = unsafe {
ethernet::new_unchecked(
dp.ETHERNET_MAC,
dp.ETHERNET_MTL,
dp.ETHERNET_DMA,
&mut DES_RING,
mac_addr.clone(),
)
};
unsafe {
ethernet::enable_interrupt();
cp.NVIC.set_priority(stm32::Interrupt::ETH, 196); // Mid prio
cortex_m::peripheral::NVIC::unmask(stm32::Interrupt::ETH);
}
// ----------------------------------------------------------
// Begin periodic tasks
systick_init(&mut delay.free(), ccdr.clocks);
unsafe {
cp.SCB.shpr[15 - 4].write(128);
} // systick exception priority
// ----------------------------------------------------------
// Main application loop
// Setup addresses, maybe not MAC?
// MAC is set up in prior
let local_addr = IpAddress::v4(192, 168, 1, 200);
let mut ip_addrs = [IpCidr::new(local_addr, 24)];
// let neighbor_cache = NeighborCache::new(BTreeMap::new());
let mut neighbor_storage = [None; 16];
let neighbor_cache = NeighborCache::new(&mut neighbor_storage[..]);
// Device? _eth_dma, as it implements phy::device
let mut iface = EthernetInterfaceBuilder::new(_eth_dma)
.ethernet_addr(mac_addr)
.neighbor_cache(neighbor_cache)
.ip_addrs(&mut ip_addrs[..])
.finalize();
// SCPI configs: migrated to scpi.rs, not meant to be touched
let tree = scpi_tree!();
// Device was declared in prior
let mut errors = ArrayErrorQueue::<[Error; 10]>::new();
let mut context = Context::new(&mut urukul, &mut errors, tree);
//Response bytebuffer
let mut buf = ArrayVecFormatter::<[u8; 256]>::new();
// SCPI configs END
// TCP socket buffers
let mut rx_storage = [0; BUFFER_SIZE];
let mut tx_storage = [0; BUFFER_SIZE];
// Setup TCP sockets
let tcp1_rx_buffer = TcpSocketBuffer::new(&mut rx_storage[..]);
let tcp1_tx_buffer = TcpSocketBuffer::new(&mut tx_storage[..]);
let mut tcp1_socket = TcpSocket::new(tcp1_rx_buffer, tcp1_tx_buffer);
// Setup a silent socket
let mut silent_rx_storage = [0; BUFFER_SIZE];
let mut silent_tx_storage = [0; BUFFER_SIZE];
let silent_rx_buffer = TcpSocketBuffer::new(&mut silent_rx_storage[..]);
let silent_tx_buffer = TcpSocketBuffer::new(&mut silent_tx_storage[..]);
let mut silent_socket = TcpSocket::new(silent_rx_buffer, silent_tx_buffer);
// Socket storage
let mut sockets_storage = [ None, None ];
let mut sockets = SocketSet::new(&mut sockets_storage[..]);
let tcp1_handle = sockets.add(tcp1_socket);
let silent_handle = sockets.add(silent_socket);
let mut handles: [SocketHandle; SOCKET_COUNT] = unsafe {
uninitialized()
};
let mut eth_up = false;
loop {
let _time = TIME.load(Ordering::Relaxed);
let eth_last = eth_up;
match iface.poll(&mut sockets, Instant::from_millis(_time as i64)) {
Ok(_) => {
eth_up = true;
},
Err(e) => {
eth_up = false;
},
};
// SCPI interaction socket (:7000)
{
let mut socket = sockets.get::<TcpSocket>(silent_handle);
if !socket.is_open() {
socket.listen(7000).unwrap();
socket.set_timeout(Some(Duration::from_millis(1000000)));
}
if socket.can_recv() {
let data = socket.recv(|buffer| {
(buffer.len(), buffer)
}).unwrap();
if str::from_utf8(data).unwrap().trim() == "quit" {
socket.close();
socket.abort();
continue;
}
let result = context.run(data, &mut buf);
if let Err(err) = result {
writeln!(socket, "{}", str::from_utf8(err.get_message()).unwrap()).unwrap();
} else {
write!(socket, "{}", str::from_utf8(buf.as_slice()).unwrap()).unwrap();
}
}
}
}
}
use stm32h7xx_hal::gpio::{
gpioa::{PA1, PA2, PA7},
gpiob::{PB13},
gpioc::{PC1, PC4, PC5},
gpiog::{PG11, PG13},
Speed::VeryHigh,
};
/*
* Migrated ethernet setup pins
*/
#[allow(non_camel_case_types)]
pub fn setup_ethernet_pins<REF_CLK, MDIO, MDC, CRS_DV, RXD0, RXD1, TX_EN, TXD0, TXD1>(
pa1: PA1<REF_CLK>, pa2: PA2<MDIO>, pc1: PC1<MDC>, pa7: PA7<CRS_DV>, pc4: PC4<RXD0>,
pc5: PC5<RXD1>, pg11: PG11<TX_EN>, pg13: PG13<TXD0>, pb13: PB13<TXD1>
) {
pa1.into_alternate_af11().set_speed(VeryHigh);
pa2.into_alternate_af11().set_speed(VeryHigh);
pc1.into_alternate_af11().set_speed(VeryHigh);
pa7.into_alternate_af11().set_speed(VeryHigh);
pc4.into_alternate_af11().set_speed(VeryHigh);
pc5.into_alternate_af11().set_speed(VeryHigh);
pg11.into_alternate_af11().set_speed(VeryHigh);
pg13.into_alternate_af11().set_speed(VeryHigh);
pb13.into_alternate_af11().set_speed(VeryHigh);
}
#[interrupt]
fn ETH() {
unsafe { ethernet::interrupt_handler() }
}
#[exception]
fn SysTick() {
TIME.fetch_add(1, Ordering::Relaxed);
}
#[exception]
fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
panic!("HardFault at {:#?}", ef);
}
#[exception]
fn DefaultHandler(irqn: i16) {
panic!("Unhandled exception (IRQn = {})", irqn);
}

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examples/fpga_config.rs
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#![no_main]
#![no_std]
extern crate log;
use log::debug;
use stm32h7xx_hal::{pac, prelude::*, spi};
use cortex_m;
use cortex_m::asm::nop;
use cortex_m_rt::entry;
use firmware::flash::flash_ice40_fpga;
#[path = "util/logger.rs"]
mod logger;
#[entry]
fn main() -> ! {
let mut cp = cortex_m::Peripherals::take().unwrap();
let dp = pac::Peripherals::take().unwrap();
let pwr = dp.PWR.constrain();
let vos = pwr.freeze();
let rcc = dp.RCC.constrain();
let ccdr = rcc
.sys_ck(400.mhz())
.pll1_q_ck(48.mhz())
.pll1_r_ck(400.mhz()) // for TRACECK
.freeze(vos, &dp.SYSCFG);
unsafe {
logger::enable_itm(&dp.DBGMCU, &mut cp.DCB, &mut cp.ITM);
}
let delay = cp.SYST.delay(ccdr.clocks);
let gpioa = dp.GPIOA.split(ccdr.peripheral.GPIOA);
let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
let gpiod = dp.GPIOD.split(ccdr.peripheral.GPIOD);
let gpiof = dp.GPIOF.split(ccdr.peripheral.GPIOF);
// gpiob.pb3.into_alternate_af0().set_speed(Speed::VeryHigh);
logger::init();
debug!("Flashing configuration bitstream to iCE40 HX8K on Humpback.");
// Using SPI_1 alternate functions (af5)
let fpga_sck = gpiob.pb3.into_alternate_af5();
let fpga_sdo = gpiob.pb4.into_alternate_af5();
let fpga_sdi = gpiob.pb5.into_alternate_af5();
// Setup SPI_SS_B and CRESET_B
let fpga_ss = gpioa.pa4.into_push_pull_output();
let fpga_creset = gpiof.pf3.into_open_drain_output();
// Setup CDONE
let fpga_cdone = gpiod.pd15.into_pull_up_input();
// Setup SPI interface
let fpga_cfg_spi = dp.SPI1.spi(
(fpga_sck, fpga_sdo, fpga_sdi),
spi::MODE_3,
12.mhz(),
ccdr.peripheral.SPI1,
&ccdr.clocks,
);
// Pre-load the configuration bytes
let config_data = include_bytes!("../build/top.bin");
flash_ice40_fpga(fpga_cfg_spi, fpga_ss, fpga_creset, fpga_cdone, delay, config_data).unwrap();
loop {
nop();
}
}

249
examples/mqtt_client.rs
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#![no_std]
#![no_main]
use log::{info, warn};
use smoltcp as net;
use stm32h7xx_hal::ethernet;
use stm32h7xx_hal::{gpio::Speed, prelude::*, spi, pac};
use heapless::consts;
use cortex_m;
use cortex_m_rt::entry;
use rtic::cyccnt::{Instant, U32Ext};
use minimq::{
embedded_nal::{IpAddr, Ipv4Addr, TcpStack},
MqttClient, QoS
};
use firmware::nal_tcp_client::{NetworkStack, NetStorage};
use firmware::{
cpld::{
CPLD,
},
};
use firmware::Urukul;
use firmware::mqtt_mux::MqttMux;
#[path = "util/logger.rs"]
mod logger;
static mut NET_STORE: NetStorage = NetStorage {
// Placeholder for the real IP address, which is initialized at runtime.
ip_addrs: [net::wire::IpCidr::Ipv6(
net::wire::Ipv6Cidr::SOLICITED_NODE_PREFIX,
)],
neighbor_cache: [None; 8],
routes_cache: [None; 8],
};
#[link_section = ".sram3.eth"]
static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
macro_rules! add_socket {
($sockets:ident, $tx_storage:ident, $rx_storage:ident) => {
let mut $rx_storage = [0; 4096];
let mut $tx_storage = [0; 4096];
let tcp_socket = {
let tx_buffer = net::socket::TcpSocketBuffer::new(&mut $tx_storage[..]);
let rx_buffer = net::socket::TcpSocketBuffer::new(&mut $rx_storage[..]);
net::socket::TcpSocket::new(tx_buffer, rx_buffer)
};
let _handle = $sockets.add(tcp_socket);
};
}
#[entry]
fn main() -> ! {
let mut cp = cortex_m::Peripherals::take().unwrap();
let dp = pac::Peripherals::take().unwrap();
cp.DWT.enable_cycle_counter();
// Enable SRAM3 for the descriptor ring.
dp.RCC.ahb2enr.modify(|_, w| w.sram3en().set_bit());
// Reset RCC clock
dp.RCC.rsr.write(|w| w.rmvf().set_bit());
let pwr = dp.PWR.constrain();
let vos = pwr.freeze();
let rcc = dp.RCC.constrain();
let ccdr = rcc
.use_hse(8.mhz())
.sysclk(400.mhz())
.hclk(200.mhz())
.pll1_q_ck(48.mhz()) // for SPI
.pll1_r_ck(400.mhz()) // for TRACECK
.freeze(vos, &dp.SYSCFG);
unsafe {
logger::enable_itm(&dp.DBGMCU, &mut cp.DCB, &mut cp.ITM);
}
logger::init();
// let mut delay = cp.SYST.delay(ccdr.clocks);
let gpioa = dp.GPIOA.split(ccdr.peripheral.GPIOA);
let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
let gpioc = dp.GPIOC.split(ccdr.peripheral.GPIOC);
let gpiod = dp.GPIOD.split(ccdr.peripheral.GPIOD);
let gpioe = dp.GPIOE.split(ccdr.peripheral.GPIOE);
let gpiof = dp.GPIOF.split(ccdr.peripheral.GPIOF);
let gpiog = dp.GPIOG.split(ccdr.peripheral.GPIOG);
// Configure ethernet IO
{
let _rmii_refclk = gpioa.pa1.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_mdio = gpioa.pa2.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_mdc = gpioc.pc1.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_crs_dv = gpioa.pa7.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_rxd0 = gpioc.pc4.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_rxd1 = gpioc.pc5.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_tx_en = gpiog.pg11.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_txd0 = gpiog.pg13.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_txd1 = gpiob.pb13.into_alternate_af11().set_speed(Speed::VeryHigh);
}
// Configure ethernet
let mac_addr = net::wire::EthernetAddress([0xAC, 0x6F, 0x7A, 0xDE, 0xD6, 0xC8]);
let (eth_dma, mut eth_mac) = unsafe {
ethernet::new_unchecked(
dp.ETHERNET_MAC,
dp.ETHERNET_MTL,
dp.ETHERNET_DMA,
&mut DES_RING,
mac_addr.clone(),
)
};
unsafe { ethernet::enable_interrupt() }
let store = unsafe { &mut NET_STORE };
store.ip_addrs[0] = net::wire::IpCidr::new(net::wire::IpAddress::v4(192, 168, 1, 200), 24);
let neighbor_cache = net::iface::NeighborCache::new(&mut store.neighbor_cache[..]);
let mut routes = net::iface::Routes::new(&mut store.routes_cache[..]);
let default_v4_gw = net::wire::Ipv4Address::new(192, 168, 1, 1);
routes.add_default_ipv4_route(default_v4_gw).unwrap();
let mut net_interface = net::iface::EthernetInterfaceBuilder::new(eth_dma)
.ethernet_addr(mac_addr)
.neighbor_cache(neighbor_cache)
.ip_addrs(&mut store.ip_addrs[..])
.routes(routes)
.finalize();
/*
* Using SPI1, AF5
* SCLK -> PA5
* MOSI -> PB5
* MISO -> PA6
* CS -> 0: PB12, 1: PA15, 2: PC7
* I/O_Update -> PB15
*/
let sclk = gpioa.pa5.into_alternate_af5();
let mosi = gpiob.pb5.into_alternate_af5();
let miso = gpioa.pa6.into_alternate_af5();
let (cs0, cs1, cs2) = (
gpiob.pb12.into_push_pull_output(),
gpioa.pa15.into_push_pull_output(),
gpioc.pc7.into_push_pull_output(),
);
let io_update = gpiob.pb15.into_push_pull_output();
let spi = dp.SPI1.spi(
(sclk, miso, mosi),
spi::MODE_0,
3.mhz(),
ccdr.peripheral.SPI1,
&ccdr.clocks,
);
let cpld = CPLD::new(spi, (cs0, cs1, cs2), io_update);
let parts = cpld.split();
let urukul = Urukul::new(
parts.spi1, parts.spi2, parts.spi3, parts.spi4, parts.spi5, parts.spi6, parts.spi7
);
cp.SCB.invalidate_icache();
cp.SCB.enable_icache();
let mut mqtt_mux = MqttMux::new(urukul);
// Time unit in ms
let mut time: u32 = 0;
// Cycle counter for 1 ms
// This effectively provides a conversion from rtic unit to ms
let mut next_ms = Instant::now();
next_ms += 400_000.cycles();
let mut socket_set_entries: [_; 8] = Default::default();
let mut sockets = net::socket::SocketSet::new(&mut socket_set_entries[..]);
add_socket!(sockets, rx_storage, tx_storage);
let tcp_stack = NetworkStack::new(&mut net_interface, sockets);
// Case dealt: Ethernet connection break down, neither side has timeout
// Limitation: Timeout inequality will cause TCP socket state to desync
// Probably fixed in latest smoltcp commit
let mut client = MqttClient::<consts::U256, _>::new(
IpAddr::V4(Ipv4Addr::new(192, 168, 1, 125)),
"Nucleo",
tcp_stack,
)
.unwrap();
let mut tick = false;
let mut has_subscribed = false;
loop {
// Update time accumulator in ms
// Tick once every ms
if Instant::now() > next_ms {
tick = true;
time += 1;
next_ms += 400_000.cycles();
}
// eth Poll if necessary
// Do not poll if eth link is down
if tick && client.network_stack.update_delay(time) == 0 && eth_mac.phy_poll_link() {
client.network_stack.update(time);
}
// Process MQTT messages about Urukul/Control
let connection = client
.poll(|_client, topic, message, _properties| {
info!("On {:?}, received: {:?}", topic, message);
// Why is topic a string while message is a slice?
mqtt_mux.process_mqtt(topic, message);
}).is_ok();
if connection && !has_subscribed && tick {
match client.subscribe("Urukul/Control/#", &[]) {
Ok(()) => has_subscribed = true,
Err(minimq::Error::NotReady) => {},
e => warn!("{:?}", e),
};
}
if connection && tick && (time % 3000) == 0 {
info!("Feedback from print publish: {:?}", client
.publish("Channel1/Switch", "Hello, World!".as_bytes(), QoS::AtMostOnce, &[]));
}
// Reset tick flag
tick = false;
}
}

266
examples/mqtt_hello_world.rs
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#![no_std]
#![no_main]
#[macro_use]
extern crate log;
use smoltcp as net;
// use stm32h7_ethernet as ethernet;
use stm32h7xx_hal::{gpio::Speed, prelude::*, ethernet};
use heapless::{consts, String};
// use si7021::Si7021;
use cortex_m;
use panic_halt as _;
// use serde::{Deserialize, Serialize};
use rtic::cyccnt::{Instant, U32Ext};
mod tcp_stack;
#[path = "util/logger.rs"]
mod logger;
use minimq::{
embedded_nal::{IpAddr, Ipv4Addr},
MqttClient, QoS,
};
use tcp_stack::NetworkStack;
pub struct NetStorage {
ip_addrs: [net::wire::IpCidr; 1],
neighbor_cache: [Option<(net::wire::IpAddress, net::iface::Neighbor)>; 8],
}
static mut NET_STORE: NetStorage = NetStorage {
// Placeholder for the real IP address, which is initialized at runtime.
ip_addrs: [net::wire::IpCidr::Ipv6(
net::wire::Ipv6Cidr::SOLICITED_NODE_PREFIX,
)],
neighbor_cache: [None; 8],
};
#[link_section = ".sram3.eth"]
static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
// #[derive(Serialize, Deserialize)]
// struct Temperature {
// temperature_c: f32,
// }
type NetworkInterface =
net::iface::EthernetInterface<'static, 'static, 'static, ethernet::EthernetDMA<'static>>;
macro_rules! add_socket {
($sockets:ident, $tx_storage:ident, $rx_storage:ident) => {
let mut $rx_storage = [0; 4096];
let mut $tx_storage = [0; 4096];
let tcp_socket = {
let tx_buffer = net::socket::TcpSocketBuffer::new(&mut $tx_storage[..]);
let rx_buffer = net::socket::TcpSocketBuffer::new(&mut $rx_storage[..]);
net::socket::TcpSocket::new(tx_buffer, rx_buffer)
};
let _handle = $sockets.add(tcp_socket);
};
}
// #[cfg(not(feature = "semihosting"))]
// fn init_log() {}
// #[cfg(feature = "semihosting")]
// fn init_log() {
// use cortex_m_log::log::{init as init_log, Logger};
// use cortex_m_log::printer::semihosting::{hio::HStdout, InterruptOk};
// use log::LevelFilter;
// static mut LOGGER: Option<Logger<InterruptOk<HStdout>>> = None;
// let logger = Logger {
// inner: InterruptOk::<_>::stdout().unwrap(),
// level: LevelFilter::Info,
// };
// let logger = unsafe { LOGGER.get_or_insert(logger) };
// init_log(logger).unwrap();
// }
#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
const APP: () = {
struct Resources {
net_interface: NetworkInterface,
// si7021: Si7021<stm32h7xx_hal::i2c::I2c<stm32h7xx_hal::stm32::I2C2>>,
}
#[init]
fn init(c: init::Context) -> init::LateResources {
let mut cp = unsafe {
cortex_m::Peripherals::steal()
};
cp.DWT.enable_cycle_counter();
// Enable SRAM3 for the descriptor ring.
c.device.RCC.ahb2enr.modify(|_, w| w.sram3en().set_bit());
let rcc = c.device.RCC.constrain();
let pwr = c.device.PWR.constrain();
let vos = pwr.freeze();
let ccdr = rcc
.sysclk(400.mhz())
.hclk(200.mhz())
.per_ck(100.mhz())
.pll1_r_ck(400.mhz()) // for TRACECK
.pll2_p_ck(100.mhz())
.pll2_q_ck(100.mhz())
.freeze(vos, &c.device.SYSCFG);
unsafe {
logger::enable_itm(&c.device.DBGMCU, &mut cp.DCB, &mut cp.ITM);
}
logger::init();
let gpioa = c.device.GPIOA.split(ccdr.peripheral.GPIOA);
let gpiob = c.device.GPIOB.split(ccdr.peripheral.GPIOB);
let gpioc = c.device.GPIOC.split(ccdr.peripheral.GPIOC);
let gpiof = c.device.GPIOF.split(ccdr.peripheral.GPIOF);
let gpiog = c.device.GPIOG.split(ccdr.peripheral.GPIOG);
// Configure ethernet IO
{
let _rmii_refclk = gpioa.pa1.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_mdio = gpioa.pa2.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_mdc = gpioc.pc1.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_crs_dv = gpioa.pa7.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_rxd0 = gpioc.pc4.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_rxd1 = gpioc.pc5.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_tx_en = gpiog.pg11.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_txd0 = gpiog.pg13.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_txd1 = gpiob.pb13.into_alternate_af11().set_speed(Speed::VeryHigh);
}
// Configure ethernet
let net_interface = {
let mac_addr = net::wire::EthernetAddress([0xAC, 0x6F, 0x7A, 0xDE, 0xD6, 0xC8]);
let (eth_dma, mut _eth_mac) = unsafe {
ethernet::new_unchecked(
c.device.ETHERNET_MAC,
c.device.ETHERNET_MTL,
c.device.ETHERNET_DMA,
&mut DES_RING,
mac_addr.clone(),
)
};
while !_eth_mac.phy_poll_link() {}
unsafe { ethernet::enable_interrupt() }
let store = unsafe { &mut NET_STORE };
store.ip_addrs[0] = net::wire::IpCidr::new(net::wire::IpAddress::v4(192, 168, 1, 200), 24);
let neighbor_cache = net::iface::NeighborCache::new(&mut store.neighbor_cache[..]);
net::iface::EthernetInterfaceBuilder::new(eth_dma)
.ethernet_addr(mac_addr)
.neighbor_cache(neighbor_cache)
.ip_addrs(&mut store.ip_addrs[..])
.finalize()
};
// Configure I2C
// let si7021 = {
// let i2c_sda = gpiof.pf0.into_open_drain_output().into_alternate_af4();
// let i2c_scl = gpiof.pf1.into_open_drain_output().into_alternate_af4();
// let i2c = c.device.I2C2.i2c(
// (i2c_scl, i2c_sda),
// 100.khz(),
// ccdr.peripheral.I2C2,
// &ccdr.clocks,
// );
// Si7021::new(i2c)
// };
cp.SCB.enable_icache();
init::LateResources {
net_interface: net_interface,
// si7021: si7021,
}
}
#[idle(resources=[net_interface])]
fn idle(c: idle::Context) -> ! {
let mut time: u32 = 0;
let mut next_ms = Instant::now();
next_ms += 400_00.cycles();
let mut socket_set_entries: [_; 8] = Default::default();
let mut sockets = net::socket::SocketSet::new(&mut socket_set_entries[..]);
add_socket!(sockets, rx_storage, tx_storage);
let tcp_stack = NetworkStack::new(c.resources.net_interface, sockets);
let mut client = MqttClient::<consts::U256, _>::new(
IpAddr::V4(Ipv4Addr::new(192, 168, 1, 125)),
"nucleo",
tcp_stack,
)
.unwrap();
loop {
let tick = Instant::now() > next_ms;
if tick {
next_ms += 400_000.cycles();
time += 1;
}
if tick && (time % 1000) == 0 {
client
.publish("nucleo", "Hello, World!".as_bytes(), QoS::AtMostOnce, &[])
.unwrap();
// let temperature = Temperature {
// temperature_c: c.resources.si7021.temperature_celsius().unwrap(),
// };
// let temperature: String<consts::U256> =
// serde_json_core::to_string(&temperature).unwrap();
// client
// .publish(
// "temperature",
// &temperature.into_bytes(),
// QoS::AtMostOnce,
// &[],
// )
// .unwrap();
}
client
.poll(|_client, topic, message, _properties| match topic {
_ => info!("On '{:?}', received: {:?}", topic, message),
});
// .unwrap();
// Update the TCP stack.
let sleep = client.network_stack.update(time);
if sleep {
//cortex_m::asm::wfi();
cortex_m::asm::nop();
}
}
}
#[task(binds=ETH)]
fn eth(_: eth::Context) {
unsafe { ethernet::interrupt_handler() }
}
};

292
examples/tcp_client.rs
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@ -1,292 +0,0 @@
#![no_std]
#![no_main]
#[macro_use]
extern crate log;
#[macro_use]
extern crate lazy_static;
use smoltcp as net;
use stm32h7xx_hal::ethernet;
use stm32h7xx_hal::{gpio::Speed, prelude::*, spi, pac};
use embedded_hal::{
blocking::spi::Transfer,
digital::v2::OutputPin,
};
use core::sync::atomic::{AtomicU32, Ordering};
use core::fmt::Write;
use core::str;
// use heapless::{consts, String};
use cortex_m;
use cortex_m::iprintln;
use cortex_m_rt::{
entry,
exception,
};
// use cortex_m_semihosting::hprintln;
// use panic_halt as _;
use panic_itm as _;
use rtic::cyccnt::{Instant, U32Ext};
use log::info;
use log::debug;
use log::trace;
use log::warn;
use nb::block;
use minimq::{
embedded_nal::{IpAddr, Ipv4Addr, TcpStack, SocketAddr, Mode},
MqttClient, QoS,
};
use firmware::nal_tcp_client::{NetworkStack, NetStorage, NetworkInterface};
use firmware::{Urukul};
use firmware::cpld::{CPLD};
#[link_section = ".sram3.eth"]
static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
// Logging setup
#[path = "util/logger.rs"]
mod logger;
#[path = "util/clock.rs"]
mod clock;
// End of logging setup
// static TIME: AtomicU32 = AtomicU32::new(0);
#[entry]
fn main() -> ! {
// logger::semihosting_init();
let clock = clock::Clock::new();
let mut cp = cortex_m::Peripherals::take().unwrap();
let dp = pac::Peripherals::take().unwrap();
cp.DWT.enable_cycle_counter();
// Enable SRAM3 for the descriptor ring.
dp.RCC.ahb2enr.modify(|_, w| w.sram3en().set_bit());
// Reset RCC clock
dp.RCC.rsr.write(|w| w.rmvf().set_bit());
let pwr = dp.PWR.constrain();
let vos = pwr.freeze();
let rcc = dp.RCC.constrain();
let ccdr = rcc
.use_hse(8.mhz())
.sysclk(400.mhz())
.hclk(200.mhz())
// .per_ck(100.mhz())
.pll1_q_ck(48.mhz()) // for SPI
.pll1_r_ck(400.mhz()) // for TRACECK
// .pll2_p_ck(100.mhz())
// .pll2_q_ck(100.mhz())
.freeze(vos, &dp.SYSCFG);
unsafe {
logger::enable_itm(&dp.DBGMCU, &mut cp.DCB, &mut cp.ITM);
}
let mut delay = cp.SYST.delay(ccdr.clocks);
let gpioa = dp.GPIOA.split(ccdr.peripheral.GPIOA);
let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
let gpioc = dp.GPIOC.split(ccdr.peripheral.GPIOC);
let gpiod = dp.GPIOD.split(ccdr.peripheral.GPIOD);
let gpioe = dp.GPIOE.split(ccdr.peripheral.GPIOE);
let gpiof = dp.GPIOF.split(ccdr.peripheral.GPIOF);
let gpiog = dp.GPIOG.split(ccdr.peripheral.GPIOG);
let mut yellow_led = gpioe.pe1.into_push_pull_output();
yellow_led.set_low().unwrap();
let mut red_led = gpiob.pb14.into_push_pull_output();
red_led.set_high().unwrap();
let mut green_led = gpiob.pb0.into_push_pull_output();
green_led.set_low().unwrap();
// gpiob.pb3.into_alternate_af0().set_speed(Speed::VeryHigh);
logger::init();
// Configure ethernet IO
{
let _rmii_refclk = gpioa.pa1.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_mdio = gpioa.pa2.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_mdc = gpioc.pc1.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_crs_dv = gpioa.pa7.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_rxd0 = gpioc.pc4.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_rxd1 = gpioc.pc5.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_tx_en = gpiog.pg11.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_txd0 = gpiog.pg13.into_alternate_af11().set_speed(Speed::VeryHigh);
let _rmii_txd1 = gpiob.pb13.into_alternate_af11().set_speed(Speed::VeryHigh);
}
// Configure ethernet
let mac_addr = net::wire::EthernetAddress([0xAC, 0x6F, 0x7A, 0xDE, 0xD6, 0xC8]);
let (eth_dma, mut eth_mac) = unsafe {
ethernet::new_unchecked(
dp.ETHERNET_MAC,
dp.ETHERNET_MTL,
dp.ETHERNET_DMA,
&mut DES_RING,
mac_addr.clone(),
)
};
unsafe { ethernet::enable_interrupt() }
let mut ip_addrs = [net::wire::IpCidr::new(net::wire::IpAddress::v4(192, 168, 1, 200), 24)];
let mut neighbor_cache_entries = [None; 8];
let mut neighbor_cache = net::iface::NeighborCache::new(&mut neighbor_cache_entries[..]);
neighbor_cache.fill(
net::wire::IpAddress::v4(192, 168, 1, 125),
net::wire::EthernetAddress([0x2C, 0xF0, 0x5D, 0x26, 0xB8, 0x2F]),
clock.elapsed(),
);
let mut net_interface = net::iface::EthernetInterfaceBuilder::new(eth_dma)
.ethernet_addr(mac_addr)
.neighbor_cache(neighbor_cache)
.ip_addrs(&mut ip_addrs[..])
.finalize();
/*
* Using SPI1, AF5
* SCLK -> PA5
* MOSI -> PB5
* MISO -> PA6
* CS -> 0: PB12, 1: PA15, 2: PC7
* I/O_Update -> PB15
*/
let sclk = gpioa.pa5.into_alternate_af5();
let mosi = gpiob.pb5.into_alternate_af5();
let miso = gpioa.pa6.into_alternate_af5();
let (cs0, cs1, cs2) = (
gpiob.pb12.into_push_pull_output(),
gpioa.pa15.into_push_pull_output(),
gpioc.pc7.into_push_pull_output(),
);
let io_update = gpiob.pb15.into_push_pull_output();
let spi = dp.SPI1.spi(
(sclk, miso, mosi),
spi::MODE_0,
3.mhz(),
ccdr.peripheral.SPI1,
&ccdr.clocks,
);
let cpld = CPLD::new(spi, (cs0, cs1, cs2), io_update);
let parts = cpld.split();
let urukul = Urukul::new(
parts.spi1, parts.spi2, parts.spi3, parts.spi4, parts.spi5, parts.spi6, parts.spi7,
[25_000_000, 25_000_000, 25_000_000, 25_000_000]
);
cp.SCB.invalidate_icache();
cp.SCB.enable_icache();
// let mut time: u32 = 0;
// let mut next_ms = Instant::now();
// next_ms += 400_000.cycles();
let mut socket_set_entries: [_; 8] = Default::default();
let mut sockets = net::socket::SocketSet::new(&mut socket_set_entries[..]);
let mut rx_storage = [0; 4096];
let mut tx_storage = [0; 4096];
let tcp_socket = {
let tx_buffer = net::socket::TcpSocketBuffer::new(&mut tx_storage[..]);
let rx_buffer = net::socket::TcpSocketBuffer::new(&mut rx_storage[..]);
net::socket::TcpSocket::new(tx_buffer, rx_buffer)
};
let handle = sockets.add(tcp_socket);
// delay.delay_ms(2000_u16);
green_led.set_high().unwrap();
{
let mut socket = sockets.get::<net::socket::TcpSocket>(handle);
socket.connect((net::wire::IpAddress::v4(192, 168, 1, 125), 1883), 49500).unwrap();
socket.set_timeout(Some(net::time::Duration::from_millis(2000)));
debug!("connect!");
}
yellow_led.set_low().unwrap();
red_led.set_high().unwrap();
let mut green = true;
let mut connected = false;
debug!("Poll link status: {}", eth_mac.phy_poll_link());
while !eth_mac.phy_poll_link() {}
debug!("Poll link status: {}", eth_mac.phy_poll_link());
loop {
// let timestamp = net::time::Instant::from_millis(TIME.load(Ordering::Relaxed) as i64);
while !eth_mac.phy_poll_link() {}
match net_interface.poll(&mut sockets, clock.elapsed()) {
Ok(_) => {},
Err(e) => {
debug!("poll error: {}", e);
}
}
{
let mut socket = sockets.get::<net::socket::TcpSocket>(handle);
info!("Socket state: {} at time {}", socket.state(), clock.elapsed());
if socket.may_recv() {
yellow_led.set_high().unwrap();
red_led.set_low().unwrap();
let data = socket.recv(|data| {
(data.len(), data)
}).unwrap();
if socket.can_send() {
socket.send_slice("response".as_bytes()).unwrap();
}
}
if socket.may_send() {
yellow_led.set_high().unwrap();
red_led.set_low().unwrap();
debug!("close");
socket.close();
}
}
match net_interface.poll_delay(&sockets, clock.elapsed()) {
Some(net::time::Duration {millis :0}) => {
clock.advance(net::time::Duration::from_millis(1));
continue;
}
Some(time_delay) => {
green_led.set_low().unwrap();
delay.delay_ms(time_delay.total_millis() as u32);
green_led.set_high().unwrap();
clock.advance(time_delay)
},
None => {
// delay.delay_ms(1_u32);
clock.advance(net::time::Duration::from_millis(1))
},
}
}
}

180
examples/tcp_stack.rs
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@ -1,180 +0,0 @@
use core::cell::RefCell;
use nb;
use heapless::{consts, Vec};
use super::{net, NetworkInterface};
use minimq::embedded_nal;
#[derive(Debug)]
pub enum NetworkError {
NoSocket,
ConnectionFailure,
ReadFailure,
WriteFailure,
}
// TODO: The network stack likely needs a time-tracking mechanic here to support
// blocking/nonblocking/timeout based operations.
pub struct NetworkStack<'a, 'b, 'c, 'n> {
network_interface: &'n mut NetworkInterface,
sockets: RefCell<net::socket::SocketSet<'a, 'b, 'c>>,
next_port: RefCell<u16>,
unused_handles: RefCell<Vec<net::socket::SocketHandle, consts::U16>>,
}
impl<'a, 'b, 'c, 'n> NetworkStack<'a, 'b, 'c, 'n> {
pub fn new(
interface: &'n mut NetworkInterface,
sockets: net::socket::SocketSet<'a, 'b, 'c>,
) -> Self {
let mut unused_handles: Vec<net::socket::SocketHandle, consts::U16> = Vec::new();
for socket in sockets.iter() {
unused_handles.push(socket.handle()).unwrap();
}
NetworkStack {
network_interface: interface,
sockets: RefCell::new(sockets),
next_port: RefCell::new(49152),
unused_handles: RefCell::new(unused_handles),
}
}
pub fn update(&mut self, time: u32) -> bool {
match self.network_interface.poll(
&mut self.sockets.borrow_mut(),
net::time::Instant::from_millis(time as i64),
) {
Ok(changed) => changed == false,
Err(e) => {
info!("{:?}", e);
true
}
}
}
fn get_ephemeral_port(&self) -> u16 {
// Get the next ephemeral port
let current_port = self.next_port.borrow().clone();
let (next, wrap) = self.next_port.borrow().overflowing_add(1);
*self.next_port.borrow_mut() = if wrap { 49152 } else { next };
return current_port;
}
}
impl<'a, 'b, 'c, 'n> embedded_nal::TcpStack for NetworkStack<'a, 'b, 'c, 'n> {
type TcpSocket = net::socket::SocketHandle;
type Error = NetworkError;
fn open(&self, _mode: embedded_nal::Mode) -> Result<Self::TcpSocket, Self::Error> {
// TODO: Handle mode?
match self.unused_handles.borrow_mut().pop() {
Some(handle) => {
// Abort any active connections on the handle.
let mut sockets = self.sockets.borrow_mut();
let internal_socket: &mut net::socket::TcpSocket = &mut *sockets.get(handle);
internal_socket.abort();
Ok(handle)
}
None => Err(NetworkError::NoSocket),
}
}
fn connect(
&self,
socket: Self::TcpSocket,
remote: embedded_nal::SocketAddr,
) -> Result<Self::TcpSocket, Self::Error> {
// TODO: Handle socket mode?
let mut sockets = self.sockets.borrow_mut();
let internal_socket: &mut net::socket::TcpSocket = &mut *sockets.get(socket);
// If we're already in the process of connecting, ignore the request silently.
if internal_socket.is_open() {
return Ok(socket);
}
match remote.ip() {
embedded_nal::IpAddr::V4(addr) => {
let address = {
let octets = addr.octets();
net::wire::Ipv4Address::new(octets[0], octets[1], octets[2], octets[3])
};
internal_socket
.connect((address, remote.port()), self.get_ephemeral_port())
.map_err(|_| NetworkError::ConnectionFailure)?;
// internal_socket.set_timeout(Some(net::time::Duration::from_millis(2000)));
}
embedded_nal::IpAddr::V6(addr) => {
let address = {
let octets = addr.segments();
net::wire::Ipv6Address::new(
octets[0], octets[1], octets[2], octets[3], octets[4], octets[5],
octets[6], octets[7],
)
};
internal_socket
.connect((address, remote.port()), self.get_ephemeral_port())
.map_err(|_| NetworkError::ConnectionFailure)?;
// internal_socket.set_timeout(Some(net::time::Duration::from_millis(2000)));
}
};
Ok(socket)
}
fn is_connected(&self, socket: &Self::TcpSocket) -> Result<bool, Self::Error> {
let mut sockets = self.sockets.borrow_mut();
let socket: &mut net::socket::TcpSocket = &mut *sockets.get(*socket);
Ok(socket.may_send() && socket.may_recv())
}
fn write(&self, socket: &mut Self::TcpSocket, buffer: &[u8]) -> nb::Result<usize, Self::Error> {
// TODO: Handle the socket mode.
let mut sockets = self.sockets.borrow_mut();
let socket: &mut net::socket::TcpSocket = &mut *sockets.get(*socket);
let result = socket.send_slice(buffer);
match result {
Ok(num_bytes) => Ok(num_bytes),
Err(_) => Err(nb::Error::Other(NetworkError::WriteFailure)),
}
}
fn read(
&self,
socket: &mut Self::TcpSocket,
buffer: &mut [u8],
) -> nb::Result<usize, Self::Error> {
// TODO: Handle the socket mode.
let mut sockets = self.sockets.borrow_mut();
let socket: &mut net::socket::TcpSocket = &mut *sockets.get(*socket);
let result = socket.recv_slice(buffer);
match result {
Ok(num_bytes) => Ok(num_bytes),
Err(_) => Err(nb::Error::Other(NetworkError::ReadFailure)),
}
}
fn close(&self, socket: Self::TcpSocket) -> Result<(), Self::Error> {
// TODO: Free the ephemeral port in use by the socket.
let mut sockets = self.sockets.borrow_mut();
let internal_socket: &mut net::socket::TcpSocket = &mut *sockets.get(socket);
internal_socket.close();
self.unused_handles.borrow_mut().push(socket).unwrap();
Ok(())
}
}

19
examples/util/clock.rs
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@ -1,19 +0,0 @@
use smoltcp::time::{Duration, Instant};
use core::cell::Cell;
#[derive(Debug)]
pub struct Clock(Cell<Instant>);
impl Clock {
pub fn new() -> Clock {
Clock(Cell::new(Instant::from_millis(0)))
}
pub fn advance(&self, duration: Duration) {
self.0.set(self.0.get() + duration)
}
pub fn elapsed(&self) -> Instant {
self.0.get()
}
}

78
examples/util/logger.rs
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@ -1,78 +0,0 @@
// Enables ITM
pub unsafe fn enable_itm(
dbgmcu: &stm32h7xx_hal::stm32::DBGMCU,
dcb: &mut cortex_m::peripheral::DCB,
itm: &mut cortex_m::peripheral::ITM
) {
// ARMv7-M DEMCR: Set TRCENA. Enables DWT and ITM units
//unsafe { *(0xE000_EDFC as *mut u32) |= 1 << 24 };
dcb.enable_trace();
// Ensure debug blocks are clocked before interacting with them
dbgmcu.cr.modify(|_, w| {
w.d1dbgcken()
.set_bit()
.d3dbgcken()
.set_bit()
.traceclken()
.set_bit()
.dbgsleep_d1()
.set_bit()
});
// SWO: Unlock
*(0x5c00_3fb0 as *mut u32) = 0xC5ACCE55;
// SWTF: Unlock
*(0x5c00_4fb0 as *mut u32) = 0xC5ACCE55;
// SWO CODR Register: Set SWO speed
*(0x5c00_3010 as *mut _) = 200;
// SWO SPPR Register:
// 1 = Manchester
// 2 = NRZ
*(0x5c00_30f0 as *mut _) = 2;
// SWTF Trace Funnel: Enable for CM7
*(0x5c00_4000 as *mut u32) |= 1;
// ITM: Unlock
itm.lar.write(0xC5ACCE55);
// ITM Trace Enable Register: Enable lower 8 stimulus ports
itm.ter[0].write(1);
// ITM Trace Control Register: Enable ITM
itm.tcr.write(
(0b000001 << 16) | // TraceBusID
(1 << 3) | // enable SWO output
(1 << 0), // enable the ITM
);
}
use panic_itm as _;
use lazy_static::lazy_static;
use log::LevelFilter;
pub use cortex_m_log::log::Logger;
use cortex_m_log::{
destination::Itm as ItmDest,
printer::itm::InterruptSync,
modes::InterruptFree,
printer::itm::ItmSync
};
lazy_static! {
static ref LOGGER: Logger<ItmSync<InterruptFree>> = Logger {
level: LevelFilter::Trace,
inner: unsafe {
InterruptSync::new(
ItmDest::new(cortex_m::Peripherals::steal().ITM)
)
},
};
}
pub fn init() {
cortex_m_log::log::init(&LOGGER).unwrap();
}