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