humpback-dds/examples/mqtt_client.rs

#![no_std]
#![no_main]

#[macro_use]
extern crate log;

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 heapless::{consts, String};

use cortex_m;
use cortex_m_rt::{
    entry,
    exception,
};
use rtic::cyccnt::{Instant, U32Ext};

use minimq::{
    embedded_nal::{IpAddr, Ipv4Addr, TcpStack, SocketAddr, Mode},
    MqttClient, QoS
};

use firmware::nal_tcp_client::{NetworkStack, NetStorage, NetworkInterface};
use firmware::{
	cpld::{
		CPLD,
    },
    scpi::{
        HelloWorldCommand,
        Channel0SwitchCommand,
        Channel1SwitchCommand,
        Channel2SwitchCommand,
        Channel3SwitchCommand,
        Channel0AttenuationCommand,
        Channel1AttenuationCommand,
        Channel2AttenuationCommand,
        Channel3AttenuationCommand,
        ClockSourceCommand,
        ClockDivisionCommand,
        ProfileCommand,
    },
    Urukul, scpi_root, recursive_scpi_tree, scpi_tree
};
use firmware::translation::MqttScpiTranslator;

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,
};
use scpi::Context;

#[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 net_interface = net::iface::EthernetInterfaceBuilder::new(eth_dma)
        .ethernet_addr(mac_addr)
        .neighbor_cache(neighbor_cache)
        .ip_addrs(&mut store.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 mut urukul = Urukul::new(
        parts.spi1, parts.spi2, parts.spi3, parts.spi4, parts.spi5, parts.spi6, parts.spi7,
        [25_000_000.0, 25_000_000.0, 25_000_000.0, 25_000_000.0]
    );

    cp.SCB.invalidate_icache();
    cp.SCB.enable_icache();

    // Define SCPI tree
    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

    // 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);
        }

        let connection = client
            .poll(|_client, topic, message, _properties| match topic {
                topic => {
                    info!("On '{:?}', received: {:?}", topic, message);
                    // Why is topic a string while message is a slice?
                    context.run_with_mqtt(topic,
                                            core::str::from_utf8(message).unwrap(),
                                            &mut buf)
                            .unwrap();
                },
            }).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;
    }
}