Move PwmLimits into its own file

README.md

@@ -23,7 +23,7 @@ cargo build --release
 
 The resulting ELF file will be located under `target/thumbv7em-none-eabihf/release/thermostat`.
 
-Alternatively, you can install the Rust toolchain without Nix using rustup; see the `rust` variable in `flake.nix` to determine which Rust version to use.
+Alternatively, you can install the Rust toolchain without Nix using rustup; see the Rust manifest file pulled in `flake.nix` to determine which Rust version to use.
 
 ## Debugging
 
@@ -94,7 +94,7 @@ formatted as line-delimited JSON.
 
 | Syntax                                     | Function                                                                      |
 |------------------------------------------- |-------------------------------------------------------------------------------|
-| `report`                                   | Show latest report of channel parameters (see *Reports* section)              |
+| `report`                                   | Show current input                                                            |
 | `pwm`                                      | Show current PWM settings                                                     |
 | `pwm <0/1> max_i_pos <amp>`                | Set maximum positive output current, clamped to [0, 2]                        |
 | `pwm <0/1> max_i_neg <amp>`                | Set maximum negative output current, clamped to [0, 2]                        |
@@ -189,7 +189,7 @@ Testing heat flow direction with a low set current is recommended before install
 
 ### Limits
 
-Each MAX1968 TEC driver has analog/PWM inputs for setting
+Each of the MAX1968 TEC driver has analog/PWM inputs for setting
 output limits.
 
 Use the `pwm` command to see current settings and maximum values.
@@ -218,7 +218,7 @@ pwm 0 max_i_pos 3
 
 ### Open-loop mode
 
-To manually control TEC output current, set a fixed output current with
+To manually control TEC output current, omit the limit parameter of
 the `pwm` command. Doing so will disengage the PID control for that
 channel.
 
@@ -257,7 +257,6 @@ with the following keys.
 | ---            | :---:           | ---                                                  |
 | `channel`      | Integer         | Channel `0`, or `1`                                  |
 | `time`         | Seconds         | Temperature measurement time                         |
-| `interval`     | Seconds         | Time elapsed since last report update on channel     |
 | `adc`          | Volts           | AD7172 input                                         |
 | `sens`         | Ohms            | Thermistor resistance derived from `adc`             |
 | `temperature`  | Degrees Celsius | Steinhart-Hart conversion result derived from `sens` |
@@ -270,7 +269,7 @@ with the following keys.
 | `tec_u_meas`   | Volts           | Measurement of the voltage across the TEC            |
 | `pid_output`   | Amperes         | PID control output                                   |
 
-Note: Prior to Thermostat hardware revision v2.2.4, the voltage and current readouts `i_tec` and `tec_i` are noisy without the hardware fix shown in [this PR](https://git.m-labs.hk/M-Labs/thermostat/pulls/105).
+Note: With Thermostat v2 and below, the voltage and current readouts `i_tec` and `tec_i` are noisy without the hardware fix shown in [this PR][https://git.m-labs.hk/M-Labs/thermostat/pulls/105].
 
 ## PID Tuning
 

src/ad5680.rs

@@ -1,9 +1,12 @@
-use crate::timer::sleep;
 use stm32f4xx_hal::{
-    hal::{blocking::spi::Transfer, digital::v2::OutputPin},
+    hal::{
-    spi,
+        blocking::spi::Transfer,
+        digital::v2::OutputPin,
+    },
     time::MegaHertz,
+    spi,
 };
+use crate::timer::sleep;
 
 /// SPI Mode 1
 pub const SPI_MODE: spi::Mode = spi::Mode {
@@ -25,7 +28,10 @@ impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
     pub fn new(spi: SPI, mut sync: S) -> Self {
         let _ = sync.set_low();
         
-        Dac { spi, sync }
+        Dac {
+            spi,
+            sync,
+        }
     }
 
     fn write(&mut self, buf: &mut [u8]) -> Result<(), SPI::Error> {
@@ -41,7 +47,11 @@ impl<SPI: Transfer<u8>, S: OutputPin> Dac<SPI, S> {
 
     pub fn set(&mut self, value: u32) -> Result<u32, SPI::Error> {
         let value = value.min(MAX_VALUE);
-        let mut buf = [(value >> 14) as u8, (value >> 6) as u8, (value << 2) as u8];
+        let mut buf = [
+            (value >> 14) as u8,
+            (value >> 6) as u8,
+            (value << 2) as u8,
+        ];
         self.write(&mut buf)?;
         Ok(value)
     }

src/ad7172/adc.rs

@@ -1,12 +1,18 @@
-use super::{
-    checksum::{Checksum, ChecksumMode},
-    regs::{self, Register, RegisterData},
-    DigitalFilterOrder, Input, Mode, PostFilter, RefSource,
-};
 use core::fmt;
 use log::{info, warn};
-use stm32f4xx_hal::hal::{blocking::spi::Transfer, digital::v2::OutputPin};
+use stm32f4xx_hal::hal::{
-use uom::si::{electric_potential::volt, f64::ElectricPotential};
+    blocking::spi::Transfer,
+    digital::v2::OutputPin,
+};
+use uom::si::{
+    f64::ElectricPotential,
+    electric_potential::volt,
+};
+use super::{
+    regs::{self, Register, RegisterData},
+    checksum::{ChecksumMode, Checksum},
+    Mode, Input, RefSource, PostFilter, DigitalFilterOrder,
+};
 
 /// AD7172-2 implementation
 ///
@@ -21,8 +27,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
     pub fn new(spi: SPI, mut nss: NSS) -> Result<Self, SPI::Error> {
         let _ = nss.set_high();
         let mut adc = Adc {
-            spi,
+            spi, nss,
-            nss,
             checksum_mode: ChecksumMode::Off,
         };
         adc.reset()?;
@@ -50,7 +55,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
 
     /// `0x00DX` for AD7172-2
     pub fn identify(&mut self) -> Result<u16, SPI::Error> {
-        self.read_reg(&regs::Id).map(|id| id.id())
+        self.read_reg(&regs::Id)
+            .map(|id| id.id())
     }
 
     pub fn set_checksum_mode(&mut self, mode: ChecksumMode) -> Result<(), SPI::Error> {
@@ -70,10 +76,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
     }
 
     pub fn setup_channel(
-        &mut self,
+        &mut self, index: u8, in_pos: Input, in_neg: Input
-        index: u8,
-        in_pos: Input,
-        in_neg: Input,
     ) -> Result<(), SPI::Error> {
         self.update_reg(&regs::SetupCon { index }, |data| {
             data.set_bipolar(false);
@@ -103,11 +106,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
         let offset = self.read_reg(&regs::Offset { index })?.offset();
         let gain = self.read_reg(&regs::Gain { index })?.gain();
         let bipolar = self.read_reg(&regs::SetupCon { index })?.bipolar();
-        Ok(ChannelCalibration {
+        Ok(ChannelCalibration { offset, gain, bipolar })
-            offset,
-            gain,
-            bipolar,
-        })
     }
 
     pub fn start_continuous_conversion(&mut self) -> Result<(), SPI::Error> {
@@ -120,7 +119,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
     }
 
     pub fn get_postfilter(&mut self, index: u8) -> Result<Option<PostFilter>, SPI::Error> {
-        self.read_reg(&regs::FiltCon { index }).map(|data| {
+        self.read_reg(&regs::FiltCon { index })
+            .map(|data| {
                 if data.enh_filt_en() {
                     Some(data.enh_filt())
                 } else {
@@ -129,23 +129,22 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
             })
     }
 
-    pub fn set_postfilter(
+    pub fn set_postfilter(&mut self, index: u8, filter: Option<PostFilter>) -> Result<(), SPI::Error> {
-        &mut self,
+        self.update_reg(&regs::FiltCon { index }, |data| {
-        index: u8,
+            match filter {
-        filter: Option<PostFilter>,
-    ) -> Result<(), SPI::Error> {
-        self.update_reg(&regs::FiltCon { index }, |data| match filter {
                 None => data.set_enh_filt_en(false),
                 Some(filter) => {
                     data.set_enh_filt_en(true);
                     data.set_enh_filt(filter);
                 }
+            }
         })
     }
 
     /// Returns the channel the data is from
     pub fn data_ready(&mut self) -> Result<Option<u8>, SPI::Error> {
-        self.read_reg(&regs::Status).map(|status| {
+        self.read_reg(&regs::Status)
+            .map(|status| {
                 if status.ready() {
                     Some(status.channel())
                 } else {
@@ -156,7 +155,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
 
     /// Get data
     pub fn read_data(&mut self) -> Result<u32, SPI::Error> {
-        self.read_reg(&regs::Data).map(|data| data.data())
+        self.read_reg(&regs::Data)
+            .map(|data| data.data())
     }
 
     fn read_reg<R: regs::Register>(&mut self, reg: &R) -> Result<R::Data, SPI::Error> {
@@ -175,21 +175,12 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
                 break;
             }
             // Retry
-            warn!(
+            warn!("read_reg {:02X}: checksum error: {:?}!={:?}, retrying", reg.address(), checksum_expected, checksum_in);
-                "read_reg {:02X}: checksum error: {:?}!={:?}, retrying",
-                reg.address(),
-                checksum_expected,
-                checksum_in
-            );
         }
         Ok(reg_data)
     }
 
-    fn write_reg<R: regs::Register>(
+    fn write_reg<R: regs::Register>(&mut self, reg: &R, reg_data: &mut R::Data) -> Result<(), SPI::Error> {
-        &mut self,
-        reg: &R,
-        reg_data: &mut R::Data,
-    ) -> Result<(), SPI::Error> {
         loop {
             let address = reg.address();
             let mut checksum = Checksum::new(match self.checksum_mode {
@@ -199,7 +190,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
                 ChecksumMode::Crc => ChecksumMode::Crc,
             });
             checksum.feed(&[address]);
-            checksum.feed(reg_data);
+            checksum.feed(&reg_data);
             let checksum_out = checksum.result();
 
             let mut data = reg_data.clone();
@@ -210,10 +201,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
             if *readback_data == **reg_data {
                 return Ok(());
             }
-            warn!(
+            warn!("write_reg {:02X}: readback error, {:?}!={:?}, retrying", address, &*readback_data, &**reg_data);
-                "write_reg {:02X}: readback error, {:?}!={:?}, retrying",
-                address, &*readback_data, &**reg_data
-            );
         }
     }
 
@@ -237,12 +225,7 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
         Ok(())
     }
 
-    fn transfer(
+    fn transfer<'w>(&mut self, addr: u8, reg_data: &'w mut [u8], checksum: Option<u8>) -> Result<Option<u8>, SPI::Error> {
-        &mut self,
-        addr: u8,
-        reg_data: &mut [u8],
-        checksum: Option<u8>,
-    ) -> Result<Option<u8>, SPI::Error> {
         let mut addr_buf = [addr];
 
         let _ = self.nss.set_low();
@@ -251,7 +234,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
             Err(e) => Err(e),
         };
         let result = match (result, checksum) {
-            (Ok(_), None) => Ok(None),
+            (Ok(_), None) =>
+                Ok(None),
             (Ok(_), Some(checksum_out)) => {
                 let mut checksum_buf = [checksum_out; 1];
                 match self.spi.transfer(&mut checksum_buf) {
@@ -259,7 +243,8 @@ impl<SPI: Transfer<u8, Error = E>, NSS: OutputPin, E: fmt::Debug> Adc<SPI, NSS>
                     Err(e) => Err(e),
                 }
             }
-            (Err(e), _) => Err(e),
+            (Err(e), _) =>
+                Err(e),
         };
         let _ = self.nss.set_high();
 

src/ad7172/checksum.rs

@@ -29,13 +29,13 @@ impl Checksum {
 
     fn feed_byte(&mut self, input: u8) {
         match self.mode {
-            ChecksumMode::Off => {}
+            ChecksumMode::Off => {},
             ChecksumMode::Xor => self.state ^= input,
             ChecksumMode::Crc => {
                 for i in 0..8 {
                     let input_mask = 0x80 >> i;
-                    self.state = (self.state << 1)
+                    self.state = (self.state << 1) ^
-                        ^ if ((self.state & 0x80) != 0) != ((input & input_mask) != 0) {
+                        if ((self.state & 0x80) != 0) != ((input & input_mask) != 0) {
                             0x07 /* x8 + x2 + x + 1 */
                         } else {
                             0
@@ -54,7 +54,7 @@ impl Checksum {
     pub fn result(&self) -> Option<u8> {
         match self.mode {
             ChecksumMode::Off => None,
-            _ => Some(self.state),
+            _ => Some(self.state)
         }
     }
 }

src/ad7172/mod.rs

@@ -1,10 +1,13 @@
 use core::fmt;
 use num_traits::float::Float;
-use serde::{Deserialize, Serialize};
+use serde::{Serialize, Deserialize};
-use stm32f4xx_hal::{spi, time::MegaHertz};
+use stm32f4xx_hal::{
+    time::MegaHertz,
+    spi,
+};
 
-mod checksum;
 pub mod regs;
+mod checksum;
 pub use checksum::ChecksumMode;
 mod adc;
 pub use adc::*;
@@ -19,6 +22,7 @@ pub const SPI_CLOCK: MegaHertz = MegaHertz(2);
 
 pub const MAX_VALUE: u32 = 0xFF_FFFF;
 
+
 #[derive(Clone, Copy, Debug)]
 #[repr(u8)]
 pub enum Mode {
@@ -101,8 +105,7 @@ impl fmt::Display for Input {
             RefPos => "ref+",
             RefNeg => "ref-",
             _ => "<INVALID>",
-        }
+        }.fmt(fmt)
-        .fmt(fmt)
     }
 }
 
@@ -138,8 +141,7 @@ impl fmt::Display for RefSource {
             Internal => "internal",
             Avdd1MinusAvss => "avdd1-avss",
             _ => "<INVALID>",
-        }
+        }.fmt(fmt)
-        .fmt(fmt)
     }
 }
 

src/ad7172/regs.rs

@@ -1,6 +1,6 @@
-use bit_field::BitField;
-use byteorder::{BigEndian, ByteOrder};
 use core::ops::{Deref, DerefMut};
+use byteorder::{BigEndian, ByteOrder};
+use bit_field::BitField;
 
 use super::*;
 
@@ -49,9 +49,7 @@ macro_rules! def_reg {
         }
     };
     ($Reg: ident, u8, $reg: ident, $addr: expr, $size: expr) => {
-        pub struct $Reg {
+        pub struct $Reg { pub index: u8, }
-            pub index: u8,
-        }
         impl Register for $Reg {
             type Data = $reg::Data;
             fn address(&self) -> u8 {
@@ -78,7 +76,7 @@ macro_rules! def_reg {
                 }
             }
         }
-    };
+    }
 }
 
 macro_rules! reg_bit {
@@ -161,21 +159,9 @@ impl status::Data {
 def_reg!(AdcMode, adc_mode, 0x01, 2);
 impl adc_mode::Data {
     reg_bits!(delay, set_delay, 0, 0..=2, "Delay after channel switch");
-    reg_bit!(
+    reg_bit!(sing_cyc, set_sing_cyc, 0, 5, "Can only used with single channel");
-        sing_cyc,
-        set_sing_cyc,
-        0,
-        5,
-        "Can only used with single channel"
-    );
     reg_bit!(hide_delay, set_hide_delay, 0, 6, "Hide delay");
-    reg_bit!(
+    reg_bit!(ref_en, set_ref_en, 0, 7, "Enable internal reference, output buffered 2.5 V to REFOUT");
-        ref_en,
-        set_ref_en,
-        0,
-        7,
-        "Enable internal reference, output buffered 2.5 V to REFOUT"
-    );
     reg_bits!(clockset, set_clocksel, 1, 2..=3, "Clock source");
     reg_bits!(mode, set_mode, 1, 4..=6, Mode, "Operating mode");
 }
@@ -188,19 +174,15 @@ impl if_mode::Data {
 def_reg!(Data, data, 0x04, 3);
 impl data::Data {
     pub fn data(&self) -> u32 {
-        (u32::from(self.0[0]) << 16) | (u32::from(self.0[1]) << 8) | u32::from(self.0[2])
+        (u32::from(self.0[0]) << 16) |
+        (u32::from(self.0[1]) << 8) |
+        u32::from(self.0[2])
     }
 }
 
 def_reg!(GpioCon, gpio_con, 0x06, 2);
 impl gpio_con::Data {
-    reg_bit!(
+    reg_bit!(sync_en, set_sync_en, 0, 3, "Enables the SYNC/ERROR pin as a sync input");
-        sync_en,
-        set_sync_en,
-        0,
-        3,
-        "Enables the SYNC/ERROR pin as a sync input"
-    );
 }
 
 def_reg!(Id, id, 0x07, 2);
@@ -218,7 +200,8 @@ impl channel::Data {
     /// Which input is connected to positive input of this channel
     #[allow(unused)]
     pub fn a_in_pos(&self) -> Input {
-        ((self.0[0].get_bits(0..=1) << 3) | self.0[1].get_bits(5..=7)).into()
+        ((self.0[0].get_bits(0..=1) << 3) |
+         self.0[1].get_bits(5..=7)).into()
     }
     /// Set which input is connected to positive input of this channel
     #[allow(unused)]
@@ -227,66 +210,27 @@ impl channel::Data {
         self.0[0].set_bits(0..=1, value >> 3);
         self.0[1].set_bits(5..=7, value & 0x7);
     }
-    reg_bits!(
+    reg_bits!(a_in_neg, set_a_in_neg, 1, 0..=4, Input,
-        a_in_neg,
+              "Which input is connected to negative input of this channel");
-        set_a_in_neg,
-        1,
-        0..=4,
-        Input,
-        "Which input is connected to negative input of this channel"
-    );
 }
 
 def_reg!(SetupCon, u8, setup_con, 0x20, 2);
 impl setup_con::Data {
-    reg_bit!(
+    reg_bit!(bipolar, set_bipolar, 0, 4, "Unipolar (`false`) or bipolar (`true`) coded output");
-        bipolar,
-        set_bipolar,
-        0,
-        4,
-        "Unipolar (`false`) or bipolar (`true`) coded output"
-    );
     reg_bit!(refbuf_pos, set_refbuf_pos, 0, 3, "Enable REF+ input buffer");
     reg_bit!(refbuf_neg, set_refbuf_neg, 0, 2, "Enable REF- input buffer");
     reg_bit!(ainbuf_pos, set_ainbuf_pos, 0, 1, "Enable AIN+ input buffer");
     reg_bit!(ainbuf_neg, set_ainbuf_neg, 0, 0, "Enable AIN- input buffer");
     reg_bit!(burnout_en, 1, 7, "enables a 10 µA current source on the positive analog input selected and a 10 µA current sink on the negative analog input selected");
-    reg_bits!(
+    reg_bits!(ref_sel, set_ref_sel, 1, 4..=5, RefSource, "Select reference source for conversion");
-        ref_sel,
-        set_ref_sel,
-        1,
-        4..=5,
-        RefSource,
-        "Select reference source for conversion"
-    );
 }
 
 def_reg!(FiltCon, u8, filt_con, 0x28, 2);
 impl filt_con::Data {
     reg_bit!(sinc3_map, 0, 7, "If set, mapping of filter register changes to directly program the decimation rate of the sinc3 filter");
-    reg_bit!(
+    reg_bit!(enh_filt_en, set_enh_filt_en, 0, 3, "Enable postfilters for enhanced 50Hz and 60Hz rejection");
-        enh_filt_en,
+    reg_bits!(enh_filt, set_enh_filt, 0, 0..=2, PostFilter, "Select postfilters for enhanced 50Hz and 60Hz rejection");
-        set_enh_filt_en,
+    reg_bits!(order, set_order, 1, 5..=6, DigitalFilterOrder, "order of the digital filter that processes the modulator data");
-        0,
-        3,
-        "Enable postfilters for enhanced 50Hz and 60Hz rejection"
-    );
-    reg_bits!(
-        enh_filt,
-        set_enh_filt,
-        0,
-        0..=2,
-        PostFilter,
-        "Select postfilters for enhanced 50Hz and 60Hz rejection"
-    );
-    reg_bits!(
-        order,
-        set_order,
-        1,
-        5..=6,
-        DigitalFilterOrder,
-        "order of the digital filter that processes the modulator data"
-    );
     reg_bits!(odr, set_odr, 1, 0..=4, "Output data rate");
 }
 
@@ -294,7 +238,9 @@ def_reg!(Offset, u8, offset, 0x30, 3);
 impl offset::Data {
     #[allow(unused)]
     pub fn offset(&self) -> u32 {
-        (u32::from(self.0[0]) << 16) | (u32::from(self.0[1]) << 8) | u32::from(self.0[2])
+        (u32::from(self.0[0]) << 16) |
+        (u32::from(self.0[1]) << 8) |
+        u32::from(self.0[2])
     }
     #[allow(unused)]
     pub fn set_offset(&mut self, value: u32) {
@@ -308,7 +254,9 @@ def_reg!(Gain, u8, gain, 0x38, 3);
 impl gain::Data {
     #[allow(unused)]
     pub fn gain(&self) -> u32 {
-        (u32::from(self.0[0]) << 16) | (u32::from(self.0[1]) << 8) | u32::from(self.0[2])
+        (u32::from(self.0[0]) << 16) |
+        (u32::from(self.0[1]) << 8) |
+        u32::from(self.0[2])
     }
     #[allow(unused)]
     pub fn set_gain(&mut self, value: u32) {

src/channel.rs

@@ -1,10 +1,14 @@
-use crate::{
-    ad5680, ad7172,
-    channel_state::ChannelState,
-    pins::{ChannelPinSet, ChannelPins},
-};
 use stm32f4xx_hal::hal::digital::v2::OutputPin;
-use uom::si::{electric_potential::volt, f64::ElectricPotential};
+use uom::si::{
+    f64::ElectricPotential,
+    electric_potential::volt,
+};
+use crate::{
+    ad5680,
+    ad7172,
+    channel_state::ChannelState,
+    pins::{ChannelPins, ChannelPinSet},
+};
 
 /// Marker type for the first channel
 pub struct Channel0;
@@ -36,8 +40,7 @@ impl<C: ChannelPins> Channel<C> {
 
         Channel {
             state,
-            dac,
+            dac, vref_meas,
-            vref_meas,
             shdn: pins.shdn,
             vref_pin: pins.vref_pin,
             itec_pin: pins.itec_pin,

src/channel_state.rs

@@ -1,20 +1,24 @@
+use smoltcp::time::{Duration, Instant};
+use uom::si::{
+    f64::{
+        ElectricPotential,
+        ElectricCurrent,
+        ElectricalResistance,
+        ThermodynamicTemperature,
+        Time,
+    },
+    electric_potential::volt,
+    electric_current::ampere,
+    electrical_resistance::ohm,
+    thermodynamic_temperature::degree_celsius,
+    time::millisecond,
+};
 use crate::{
     ad7172,
-    command_parser::{CenterPoint, Polarity},
     pid,
     pwm_limits::PwmLimits,
     steinhart_hart as sh,
-};
+    command_parser::{CenterPoint, Polarity},
-use smoltcp::time::{Duration, Instant};
-use uom::si::{
-    electric_current::ampere,
-    electric_potential::volt,
-    electrical_resistance::ohm,
-    f64::{
-        ElectricCurrent, ElectricPotential, ElectricalResistance, ThermodynamicTemperature, Time,
-    },
-    thermodynamic_temperature::degree_celsius,
-    time::millisecond,
 };
 
 const R_INNER: f64 = 2.0 * 5100.0;
@@ -44,7 +48,7 @@ impl ChannelState {
             adc_time: Instant::from_secs(0),
             // default: 10 Hz
             adc_interval: Duration::from_millis(100),
-            center: CenterPoint::VRef,
+            center: CenterPoint::Vref,
             dac_value: ElectricPotential::new::<volt>(0.0),
             i_set: ElectricCurrent::new::<ampere>(0.0),
             pwm_limits: PwmLimits {
@@ -72,7 +76,8 @@ impl ChannelState {
 
     /// Update PID state on ADC input, calculate new DAC output
     pub fn update_pid(&mut self) -> Option<f64> {
-        let temperature = self.get_temperature()?.get::<degree_celsius>();
+        let temperature = self.get_temperature()?
+            .get::<degree_celsius>();
         let pid_output = self.pid.update(temperature);
         Some(pid_output)
     }

src/channels.rs

@@ -1,13 +1,3 @@
-use crate::timer::sleep;
-use crate::{
-    ad5680, ad7172,
-    channel::{Channel, Channel0, Channel1},
-    channel_state::ChannelState,
-    command_handler::JsonBuffer,
-    command_parser::{CenterPoint, Polarity, PwmPin},
-    pins::{self, Channel0VRef, Channel1VRef},
-    steinhart_hart,
-};
 use core::marker::PhantomData;
 use heapless::{consts::U2, Vec};
 use num_traits::Zero;
@@ -15,16 +5,27 @@ use serde::{Serialize, Serializer};
 use smoltcp::time::Instant;
 use stm32f4xx_hal::hal;
 use uom::si::{
-    electric_current::ampere,
-    electric_potential::{millivolt, volt},
-    electrical_resistance::ohm,
     f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, Time},
+    electric_potential::{millivolt, volt},
+    electric_current::ampere,
+    electrical_resistance::ohm,
     ratio::ratio,
     thermodynamic_temperature::degree_celsius,
 };
+use crate::{
+    ad5680,
+    ad7172,
+    channel::{Channel, Channel0, Channel1},
+    channel_state::ChannelState,
+    command_parser::{CenterPoint, PwmPin, Polarity},
+    command_handler::JsonBuffer,
+    pins::{self, Channel0VRef, Channel1VRef},
+    steinhart_hart,
+};
+use crate::timer::sleep;
 
 pub enum PinsAdcReadTarget {
-    VRef,
+    VREF,
     DacVfb,
     ITec,
     VTec,
@@ -72,25 +73,19 @@ impl Channels {
         adc.set_sync_enable(false).unwrap();
 
         // Setup channels and start ADC
-        adc.setup_channel(0, ad7172::Input::Ain2, ad7172::Input::Ain3)
+        adc.setup_channel(0, ad7172::Input::Ain2, ad7172::Input::Ain3).unwrap();
-            .unwrap();
+        let adc_calibration0 = adc.get_calibration(0)
-        let adc_calibration0 = adc.get_calibration(0).expect("adc_calibration0");
+            .expect("adc_calibration0");
-        adc.setup_channel(1, ad7172::Input::Ain0, ad7172::Input::Ain1)
+        adc.setup_channel(1, ad7172::Input::Ain0, ad7172::Input::Ain1).unwrap();
-            .unwrap();
+        let adc_calibration1 = adc.get_calibration(1)
-        let adc_calibration1 = adc.get_calibration(1).expect("adc_calibration1");
+            .expect("adc_calibration1");
         adc.start_continuous_conversion().unwrap();
 
         let channel0 = Channel::new(pins.channel0, adc_calibration0);
         let channel1 = Channel::new(pins.channel1, adc_calibration1);
         let pins_adc = pins.pins_adc;
         let pwm = pins.pwm;
-        let mut channels = Channels {
+        let mut channels = Channels { channel0, channel1, adc, pins_adc, pwm };
-            channel0,
-            channel1,
-            adc,
-            pins_adc,
-            pwm,
-        };
         for channel in 0..CHANNELS {
             channels.calibrate_dac_value(channel);
             channels.set_i(channel, ElectricCurrent::new::<ampere>(0.0));
@@ -131,10 +126,10 @@ impl Channels {
     /// calculate the TEC i_set centerpoint
     pub fn get_center(&mut self, channel: usize) -> ElectricPotential {
         match self.channel_state(channel).center {
-            CenterPoint::VRef => self.adc_read(channel, PinsAdcReadTarget::VRef, 8),
+            CenterPoint::Vref =>
-            CenterPoint::Override(center_point) => {
+                self.adc_read(channel, PinsAdcReadTarget::VREF, 8),
-                ElectricPotential::new::<volt>(center_point.into())
+            CenterPoint::Override(center_point) =>
-            }
+                ElectricPotential::new::<volt>(center_point.into()),
         }
     }
 
@@ -168,7 +163,7 @@ impl Channels {
             Polarity::Normal => 1.0,
             Polarity::Reversed => -1.0,
         };
-        let vref_meas = match channel {
+        let vref_meas = match channel.into() {
             0 => self.channel0.vref_meas,
             1 => self.channel1.vref_meas,
             _ => unreachable!(),
@@ -177,57 +172,54 @@ impl Channels {
         let r_sense = ElectricalResistance::new::<ohm>(R_SENSE);
         let voltage = negate * i_set * 10.0 * r_sense + center_point;
         let voltage = self.set_dac(channel, voltage);
-
+        let i_set = negate * (voltage - center_point) / (10.0 * r_sense);
-        negate * (voltage - center_point) / (10.0 * r_sense)
+        i_set
     }
 
     /// AN4073: ADC Reading Dispersion can be reduced through Averaging
-    pub fn adc_read(
+    pub fn adc_read(&mut self, channel: usize, adc_read_target: PinsAdcReadTarget, avg_pt: u16) -> ElectricPotential {
-        &mut self,
-        channel: usize,
-        adc_read_target: PinsAdcReadTarget,
-        avg_pt: u16,
-    ) -> ElectricPotential {
         let mut sample: u32 = 0;
         match channel {
             0 => {
                 sample = match adc_read_target {
-                    PinsAdcReadTarget::VRef => match &self.channel0.vref_pin {
+                    PinsAdcReadTarget::VREF => {
+                        match &self.channel0.vref_pin {
                             Channel0VRef::Analog(vref_pin) => {
                                 for _ in (0..avg_pt).rev() {
-                                sample += self.pins_adc.convert(
+                                    sample += self
-                                    vref_pin,
+                                        .pins_adc
-                                    stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                        .convert(vref_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                                ) as u32;
+                                        as u32;
                                 }
                                 sample / avg_pt as u32
-                        }
-                        Channel0VRef::Disabled(_) => 2048_u32,
                             },
+                            Channel0VRef::Disabled(_) => {2048 as u32}
+                        }
+                    }
                     PinsAdcReadTarget::DacVfb => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel0.dac_feedback_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel0.dac_feedback_pin,stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
                     PinsAdcReadTarget::ITec => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel0.itec_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel0.itec_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
                     PinsAdcReadTarget::VTec => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel0.tec_u_meas_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel0.tec_u_meas_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
@@ -237,42 +229,44 @@ impl Channels {
             }
             1 => {
                 sample = match adc_read_target {
-                    PinsAdcReadTarget::VRef => match &self.channel1.vref_pin {
+                    PinsAdcReadTarget::VREF => {
+                        match &self.channel1.vref_pin {
                             Channel1VRef::Analog(vref_pin) => {
                                 for _ in (0..avg_pt).rev() {
-                                sample += self.pins_adc.convert(
+                                    sample += self
-                                    vref_pin,
+                                        .pins_adc
-                                    stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                        .convert(vref_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                                ) as u32;
+                                        as u32;
                                 }
                                 sample / avg_pt as u32
-                        }
-                        Channel1VRef::Disabled(_) => 2048_u32,
                             },
+                            Channel1VRef::Disabled(_) => {2048 as u32}
+                        }
+                    }
                     PinsAdcReadTarget::DacVfb => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel1.dac_feedback_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel1.dac_feedback_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
                     PinsAdcReadTarget::ITec => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel1.itec_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel1.itec_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
                     PinsAdcReadTarget::VTec => {
                         for _ in (0..avg_pt).rev() {
-                            sample += self.pins_adc.convert(
+                            sample += self
-                                &self.channel1.tec_u_meas_pin,
+                                .pins_adc
-                                stm32f4xx_hal::adc::config::SampleTime::Cycles_480,
+                                .convert(&self.channel1.tec_u_meas_pin, stm32f4xx_hal::adc::config::SampleTime::Cycles_480)
-                            ) as u32;
+                                as u32;
                         }
                         sample / avg_pt as u32
                     }
@@ -280,7 +274,7 @@ impl Channels {
                 let mv = self.pins_adc.sample_to_millivolts(sample as u16);
                 ElectricPotential::new::<millivolt>(mv as f64)
             }
-            _ => unreachable!(),
+            _ => unreachable!()
         }
     }
 
@@ -304,9 +298,9 @@ impl Channels {
         let samples = 50;
         let mut target_voltage = ElectricPotential::new::<volt>(0.0);
         for _ in 0..samples {
-            target_voltage += self.get_center(channel);
+            target_voltage = target_voltage + self.get_center(channel);
         }
-        target_voltage /= samples as f64;
+        target_voltage = target_voltage / samples as f64;
         let mut start_value = 1;
         let mut best_error = ElectricPotential::new::<volt>(100.0);
 
@@ -377,9 +371,7 @@ impl Channels {
 
     // Get current passing through TEC
     pub fn get_tec_i(&mut self, channel: usize) -> ElectricCurrent {
-        let tec_i = (self.adc_read(channel, PinsAdcReadTarget::ITec, 16)
+        let tec_i = (self.adc_read(channel, PinsAdcReadTarget::ITec, 16) - self.adc_read(channel, PinsAdcReadTarget::VREF, 16)) / ElectricalResistance::new::<ohm>(0.4);
-            - self.adc_read(channel, PinsAdcReadTarget::VRef, 16))
-            / ElectricalResistance::new::<ohm>(0.4);
         match self.channel_state(channel).polarity {
             Polarity::Normal => tec_i,
             Polarity::Reversed => -tec_i,
@@ -388,8 +380,7 @@ impl Channels {
 
     // Get voltage across TEC
     pub fn get_tec_v(&mut self, channel: usize) -> ElectricPotential {
-        (self.adc_read(channel, PinsAdcReadTarget::VTec, 16) - ElectricPotential::new::<volt>(1.5))
+        (self.adc_read(channel, PinsAdcReadTarget::VTec, 16) - ElectricPotential::new::<volt>(1.5)) * 4.0
-            * 4.0
     }
 
     fn set_pwm(&mut self, channel: usize, pin: PwmPin, duty: f64) -> f64 {
@@ -400,22 +391,26 @@ impl Channels {
             value as f64 / (max as f64)
         }
         match (channel, pin) {
-            (_, PwmPin::ISet) => panic!("i_set is no pwm pin"),
+            (_, PwmPin::ISet) =>
-            (0, PwmPin::MaxIPos) => set(&mut self.pwm.max_i_pos0, duty),
+                panic!("i_set is no pwm pin"),
-            (0, PwmPin::MaxINeg) => set(&mut self.pwm.max_i_neg0, duty),
+            (0, PwmPin::MaxIPos) =>
-            (0, PwmPin::MaxV) => set(&mut self.pwm.max_v0, duty),
+                set(&mut self.pwm.max_i_pos0, duty),
-            (1, PwmPin::MaxIPos) => set(&mut self.pwm.max_i_pos1, duty),
+            (0, PwmPin::MaxINeg) =>
-            (1, PwmPin::MaxINeg) => set(&mut self.pwm.max_i_neg1, duty),
+                set(&mut self.pwm.max_i_neg0, duty),
-            (1, PwmPin::MaxV) => set(&mut self.pwm.max_v1, duty),
+            (0, PwmPin::MaxV) =>
-            _ => unreachable!(),
+                set(&mut self.pwm.max_v0, duty),
+            (1, PwmPin::MaxIPos) =>
+                set(&mut self.pwm.max_i_pos1, duty),
+            (1, PwmPin::MaxINeg) =>
+                set(&mut self.pwm.max_i_neg1, duty),
+            (1, PwmPin::MaxV) =>
+                set(&mut self.pwm.max_v1, duty),
+            _ =>
+                unreachable!(),
         }
     }
 
-    pub fn set_max_v(
+    pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
-        &mut self,
-        channel: usize,
-        max_v: ElectricPotential,
-    ) -> (ElectricPotential, ElectricPotential) {
         let max = 4.0 * ElectricPotential::new::<volt>(3.3);
         let max_v = max_v.min(MAX_TEC_V).max(ElectricPotential::zero());
         let duty = (max_v / max).get::<ratio>();
@@ -424,11 +419,7 @@ impl Channels {
         (duty * max, max)
     }
 
-    pub fn set_max_i_pos(
+    pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
-        &mut self,
-        channel: usize,
-        max_i_pos: ElectricCurrent,
-    ) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
         let max_i_pos = max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero());
         let duty = (max_i_pos / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
@@ -440,11 +431,7 @@ impl Channels {
         (duty * MAX_TEC_I_DUTY_TO_CURRENT_RATE, max)
     }
 
-    pub fn set_max_i_neg(
+    pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
-        &mut self,
-        channel: usize,
-        max_i_neg: ElectricCurrent,
-    ) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
         let max_i_neg = max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero());
         let duty = (max_i_neg / MAX_TEC_I_DUTY_TO_CURRENT_RATE).get::<ratio>();
@@ -482,8 +469,7 @@ impl Channels {
             interval: state.get_adc_interval(),
             adc: state.get_adc(),
             sens: state.get_sens(),
-            temperature: state
+            temperature: state.get_temperature()
-                .get_temperature()
                 .map(|temperature| temperature.get::<degree_celsius>()),
             pid_engaged: state.pid_engaged,
             i_set,
@@ -542,10 +528,7 @@ impl Channels {
     }
 
     fn postfilter_summary(&mut self, channel: usize) -> PostFilterSummary {
-        let rate = self
+        let rate = self.adc.get_postfilter(channel as u8).unwrap()
-            .adc
-            .get_postfilter(channel as u8)
-            .unwrap()
             .and_then(|filter| filter.output_rate());
         PostFilterSummary { channel, rate }
     }
@@ -563,9 +546,7 @@ impl Channels {
         SteinhartHartSummary { channel, params }
     }
 
-    pub fn steinhart_hart_summaries_json(
+    pub fn steinhart_hart_summaries_json(&mut self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
-        &mut self,
-    ) -> Result<JsonBuffer, serde_json_core::ser::Error> {
         let mut summaries = Vec::<_, U2>::new();
         for channel in 0..CHANNELS {
             let _ = summaries.push(self.steinhart_hart_summary(channel));
@@ -608,8 +589,10 @@ impl Serialize for CenterPointJson {
         S: Serializer,
     {
         match self.0 {
-            CenterPoint::VRef => serializer.serialize_str("vref"),
+            CenterPoint::Vref =>
-            CenterPoint::Override(vref) => serializer.serialize_f32(vref),
+                serializer.serialize_str("vref"),
+            CenterPoint::Override(vref) =>
+                serializer.serialize_f32(vref),
         }
     }
 }

src/command_handler.rs

@@ -1,26 +1,45 @@
+use smoltcp::socket::TcpSocket;
+use log::{error, warn};
+use core::fmt::Write;
+use heapless::{consts::U1024, Vec};
 use super::{
-    ad7172,
+    net,
-    channels::{Channels, CHANNELS},
     command_parser::{
-        CenterPoint, Command, Ipv4Config, PidParameter, Polarity, PwmPin, ShParameter, ShowCommand,
+        Ipv4Config, 
+        Command, 
+        ShowCommand, 
+        CenterPoint, 
+        PidParameter, 
+        PwmPin, 
+        ShParameter,
+        Polarity
+    },
+    ad7172,
+    CHANNEL_CONFIG_KEY,
+    channels::{
+        Channels, 
+        CHANNELS
     },
     config::ChannelConfig,
     dfu,
     flash_store::FlashStore,
+    FanCtrl,
     hw_rev::HWRev,
-    net, FanCtrl, CHANNEL_CONFIG_KEY,
 };
-use core::fmt::Write;
-use heapless::{consts::U1024, Vec};
-use log::{error, warn};
-use smoltcp::socket::TcpSocket;
 
-use uom::si::{
+use uom::{
+    si::{
+        f64::{
+            ElectricCurrent,
+            ElectricPotential,
+            ElectricalResistance,
+            ThermodynamicTemperature,
+        },
         electric_current::ampere,
         electric_potential::volt,
         electrical_resistance::ohm,
-    f64::{ElectricCurrent, ElectricPotential, ElectricalResistance, ThermodynamicTemperature},
         thermodynamic_temperature::degree_celsius,
+    },
 };
 
 #[derive(Debug, Clone, PartialEq)]
@@ -33,9 +52,9 @@ pub enum Handler {
 
 #[derive(Clone, Debug, PartialEq)]
 pub enum Error {
-    Report,
+    ReportError,
-    PostFilterRate,
+    PostFilterRateError,
-    Flash,
+    FlashError
 }
 
 pub type JsonBuffer = Vec<u8, U1024>;
@@ -47,19 +66,19 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
         // instead of sending incomplete line
         warn!(
             "TCP socket has only {}/{} needed {}",
-            send_free + 1,
+            send_free + 1, socket.send_capacity(), data.len(),
-            socket.send_capacity(),
-            data.len(),
         );
     } else {
-        match socket.send_slice(data) {
+        match socket.send_slice(&data) {
             Ok(sent) if sent == data.len() => {
                 let _ = socket.send_slice(b"\n");
                 // success
-                return true;
+                return true
             }
-            Ok(sent) => warn!("sent only {}/{} bytes", sent, data.len()),
+            Ok(sent) =>
-            Err(e) => error!("error sending line: {:?}", e),
+                warn!("sent only {}/{} bytes", sent, data.len()),
+            Err(e) =>
+                error!("error sending line: {:?}", e),
         }
     }
     // not success
@@ -67,6 +86,7 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
 }
 
 impl Handler {
+
     fn show_report(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
         match channels.reports_json() {
             Ok(buf) => {
@@ -75,7 +95,7 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize report: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
@@ -89,7 +109,7 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize pid summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
@@ -103,16 +123,13 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize pwm summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
     }
 
-    fn show_steinhart_hart(
+    fn show_steinhart_hart(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-    ) -> Result<Handler, Error> {
         match channels.steinhart_hart_summaries_json() {
             Ok(buf) => {
                 send_line(socket, &buf);
@@ -120,7 +137,7 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize steinhart-hart summaries: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
@@ -134,7 +151,7 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize postfilter summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                return Err(Error::Report);
+                return Err(Error::ReportError);
             }
         }
         Ok(Handler::Handled)
@@ -148,34 +165,19 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn engage_pid(
+    fn engage_pid (socket: &mut TcpSocket, channels: &mut Channels, channel: usize) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-    ) -> Result<Handler, Error> {
         channels.channel_state(channel).pid_engaged = true;
         send_line(socket, b"{}");
         Ok(Handler::Handled)
     }
 
-    fn set_polarity(
+    fn set_polarity(socket: &mut TcpSocket, channels: &mut Channels, channel: usize, polarity: Polarity) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-        polarity: Polarity,
-    ) -> Result<Handler, Error> {
         channels.set_polarity(channel, polarity);
         send_line(socket, b"{}");
         Ok(Handler::Handled)
     }
 
-    fn set_pwm(
+    fn set_pwm (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, pin: PwmPin, value: f64) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-        pin: PwmPin,
-        value: f64,
-    ) -> Result<Handler, Error> {
         match pin {
             PwmPin::ISet => {
                 channels.channel_state(channel).pid_engaged = false;
@@ -200,12 +202,7 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn set_center_point(
+    fn set_center_point(socket: &mut TcpSocket, channels: &mut Channels, channel: usize, center: CenterPoint) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-        center: CenterPoint,
-    ) -> Result<Handler, Error> {
         let i_set = channels.get_i(channel);
         let state = channels.channel_state(channel);
         state.center = center;
@@ -216,34 +213,28 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn set_pid(
+    fn set_pid (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, parameter: PidParameter, value: f64) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-        parameter: PidParameter,
-        value: f64,
-    ) -> Result<Handler, Error> {
         let pid = &mut channels.channel_state(channel).pid;
         use super::command_parser::PidParameter::*;
         match parameter {
-            Target => pid.target = value,
+            Target =>
-            KP => pid.parameters.kp = value as f32,
+                pid.target = value,
-            KI => pid.update_ki(value as f32),
+            KP =>
-            KD => pid.parameters.kd = value as f32,
+                pid.parameters.kp = value as f32,
-            OutputMin => pid.parameters.output_min = value as f32,
+            KI => 
-            OutputMax => pid.parameters.output_max = value as f32,
+                pid.update_ki(value as f32),
+            KD =>
+                pid.parameters.kd = value as f32,
+            OutputMin =>
+                pid.parameters.output_min = value as f32,
+            OutputMax =>
+                pid.parameters.output_max = value as f32,
         }
         send_line(socket, b"{}");
         Ok(Handler::Handled)
     }
 
-    fn set_steinhart_hart(
+    fn set_steinhart_hart (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, parameter: ShParameter, value: f64) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-        parameter: ShParameter,
-        value: f64,
-    ) -> Result<Handler, Error> {
         let sh = &mut channels.channel_state(channel).sh;
         use super::command_parser::ShParameter::*;
         match parameter {
@@ -255,52 +246,32 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn reset_post_filter(
+    fn reset_post_filter (socket: &mut TcpSocket, channels: &mut Channels, channel: usize) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-    ) -> Result<Handler, Error> {
         channels.adc.set_postfilter(channel as u8, None).unwrap();
         send_line(socket, b"{}");
         Ok(Handler::Handled)
     }
 
-    fn set_post_filter(
+    fn set_post_filter (socket: &mut TcpSocket, channels: &mut Channels, channel: usize, rate: f32) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        channel: usize,
-        rate: f32,
-    ) -> Result<Handler, Error> {
         let filter = ad7172::PostFilter::closest(rate);
         match filter {
             Some(filter) => {
-                channels
+                channels.adc.set_postfilter(channel as u8, Some(filter)).unwrap();
-                    .adc
-                    .set_postfilter(channel as u8, Some(filter))
-                    .unwrap();
                 send_line(socket, b"{}");
             }
             None => {
                 error!("unable to choose postfilter for rate {:.3}", rate);
-                send_line(
+                send_line(socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
-                    socket,
+                return Err(Error::PostFilterRateError);
-                    b"{{\"error\": \"unable to choose postfilter rate\"}}",
-                );
-                return Err(Error::PostFilterRate);
             }
         }
         Ok(Handler::Handled)
     }
 
-    fn load_channel(
+    fn load_channel (socket: &mut TcpSocket, channels: &mut Channels, store: &mut FlashStore, channel: Option<usize>) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
+        for c in 0..CHANNELS {
-        channels: &mut Channels,
-        store: &mut FlashStore,
-        channel: Option<usize>,
-    ) -> Result<Handler, Error> {
-        for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
             if channel.is_none() || channel == Some(c) {
-                match store.read_value::<ChannelConfig>(key) {
+                match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
                     Ok(Some(config)) => {
                         config.apply(channels, c);
                         send_line(socket, b"{}");
@@ -312,7 +283,7 @@ impl Handler {
                     Err(e) => {
                         error!("unable to load config from flash: {:?}", e);
                         let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                        return Err(Error::Flash);
+                        return Err(Error::FlashError);
                     }
                 }
             }
@@ -320,24 +291,19 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn save_channel(
+    fn save_channel (socket: &mut TcpSocket, channels: &mut Channels, channel: Option<usize>, store: &mut FlashStore) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
+        for c in 0..CHANNELS {
-        channels: &mut Channels,
-        channel: Option<usize>,
-        store: &mut FlashStore,
-    ) -> Result<Handler, Error> {
-        for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
             let mut store_value_buf = [0u8; 256];
             if channel.is_none() || channel == Some(c) {
                 let config = ChannelConfig::new(channels, c);
-                match store.write_value(key, &config, &mut store_value_buf) {
+                match store.write_value(CHANNEL_CONFIG_KEY[c], &config, &mut store_value_buf) {
                     Ok(()) => {
                         send_line(socket, b"{}");
                     }
                     Err(e) => {
                         error!("unable to save channel {} config to flash: {:?}", c, e);
                         let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                        return Err(Error::Flash);
+                        return Err(Error::FlashError);
                     }
                 }
             }
@@ -345,11 +311,7 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn set_ipv4(
+    fn set_ipv4 (socket: &mut TcpSocket, store: &mut FlashStore, config: Ipv4Config) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        store: &mut FlashStore,
-        config: Ipv4Config,
-    ) -> Result<Handler, Error> {
         let _ = store
             .write_value("ipv4", &config, [0; 16])
             .map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
@@ -377,16 +339,9 @@ impl Handler {
         Ok(Handler::Reset)
     }
 
-    fn set_fan(
+    fn set_fan(socket: &mut TcpSocket, fan_pwm: u32, fan_ctrl: &mut FanCtrl) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        fan_pwm: u32,
-        fan_ctrl: &mut FanCtrl,
-    ) -> Result<Handler, Error> {
         if !fan_ctrl.fan_available() {
-            send_line(
+            send_line(socket, b"{ \"warning\": \"this thermostat doesn't have a fan!\" }");
-                socket,
-                b"{ \"warning\": \"this thermostat doesn't have a fan!\" }",
-            );
             return Ok(Handler::Handled);
         }
         fan_ctrl.set_auto_mode(false);
@@ -408,17 +363,14 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize fan summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                Err(Error::Report)
+                Err(Error::ReportError)
             }
         }
     }
 
     fn fan_auto(socket: &mut TcpSocket, fan_ctrl: &mut FanCtrl) -> Result<Handler, Error> {
         if !fan_ctrl.fan_available() {
-            send_line(
+            send_line(socket, b"{ \"warning\": \"this thermostat doesn't have a fan!\" }");
-                socket,
-                b"{ \"warning\": \"this thermostat doesn't have a fan!\" }",
-            );
             return Ok(Handler::Handled);
         }
         fan_ctrl.set_auto_mode(true);
@@ -430,13 +382,7 @@ impl Handler {
         Ok(Handler::Handled)
     }
 
-    fn fan_curve(
+    fn fan_curve(socket: &mut TcpSocket, fan_ctrl: &mut FanCtrl, k_a: f32, k_b: f32, k_c: f32) -> Result<Handler, Error> {
-        socket: &mut TcpSocket,
-        fan_ctrl: &mut FanCtrl,
-        k_a: f32,
-        k_b: f32,
-        k_c: f32,
-    ) -> Result<Handler, Error> {
         fan_ctrl.set_curve(k_a, k_b, k_c);
         send_line(socket, b"{}");
         Ok(Handler::Handled)
@@ -457,60 +403,28 @@ impl Handler {
             Err(e) => {
                 error!("unable to serialize HWRev summary: {:?}", e);
                 let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
-                Err(Error::Report)
+                Err(Error::ReportError)
             }
         }
     }
 
-    pub fn handle_command(
+    pub fn handle_command(command: Command, socket: &mut TcpSocket, channels: &mut Channels, store: &mut FlashStore, ipv4_config: &mut Ipv4Config, fan_ctrl: &mut FanCtrl, hwrev: HWRev) -> Result<Self, Error> {
-        command: Command,
-        socket: &mut TcpSocket,
-        channels: &mut Channels,
-        store: &mut FlashStore,
-        ipv4_config: &mut Ipv4Config,
-        fan_ctrl: &mut FanCtrl,
-        hwrev: HWRev,
-    ) -> Result<Self, Error> {
         match command {
             Command::Quit => Ok(Handler::CloseSocket),
             Command::Show(ShowCommand::Input) => Handler::show_report(socket, channels),
             Command::Show(ShowCommand::Pid) => Handler::show_pid(socket, channels),
             Command::Show(ShowCommand::Pwm) => Handler::show_pwm(socket, channels),
-            Command::Show(ShowCommand::SteinhartHart) => {
+            Command::Show(ShowCommand::SteinhartHart) => Handler::show_steinhart_hart(socket, channels),
-                Handler::show_steinhart_hart(socket, channels)
-            }
             Command::Show(ShowCommand::PostFilter) => Handler::show_post_filter(socket, channels),
             Command::Show(ShowCommand::Ipv4) => Handler::show_ipv4(socket, ipv4_config),
             Command::PwmPid { channel } => Handler::engage_pid(socket, channels, channel),
-            Command::PwmPolarity { channel, polarity } => {
+            Command::PwmPolarity { channel, polarity } => Handler::set_polarity(socket, channels, channel, polarity),
-                Handler::set_polarity(socket, channels, channel, polarity)
+            Command::Pwm { channel, pin, value } => Handler::set_pwm(socket, channels, channel, pin, value),
-            }
+            Command::CenterPoint { channel, center } => Handler::set_center_point(socket, channels, channel, center),
-            Command::Pwm {
+            Command::Pid { channel, parameter, value } => Handler::set_pid(socket, channels, channel, parameter, value),
-                channel,
+            Command::SteinhartHart { channel, parameter, value } => Handler::set_steinhart_hart(socket, channels, channel, parameter, value),
-                pin,
+            Command::PostFilter { channel, rate: None } => Handler::reset_post_filter(socket, channels, channel),
-                value,
+            Command::PostFilter { channel, rate: Some(rate) } => Handler::set_post_filter(socket, channels, channel, rate),
-            } => Handler::set_pwm(socket, channels, channel, pin, value),
-            Command::CenterPoint { channel, center } => {
-                Handler::set_center_point(socket, channels, channel, center)
-            }
-            Command::Pid {
-                channel,
-                parameter,
-                value,
-            } => Handler::set_pid(socket, channels, channel, parameter, value),
-            Command::SteinhartHart {
-                channel,
-                parameter,
-                value,
-            } => Handler::set_steinhart_hart(socket, channels, channel, parameter, value),
-            Command::PostFilter {
-                channel,
-                rate: None,
-            } => Handler::reset_post_filter(socket, channels, channel),
-            Command::PostFilter {
-                channel,
-                rate: Some(rate),
-            } => Handler::set_post_filter(socket, channels, channel, rate),
             Command::Load { channel } => Handler::load_channel(socket, channels, store, channel),
             Command::Save { channel } => Handler::save_channel(socket, channels, channel, store),
             Command::Ipv4(config) => Handler::set_ipv4(socket, store, config),
@@ -519,9 +433,7 @@ impl Handler {
             Command::FanSet {fan_pwm} => Handler::set_fan(socket, fan_pwm, fan_ctrl),
             Command::ShowFan => Handler::show_fan(socket, fan_ctrl),
             Command::FanAuto => Handler::fan_auto(socket, fan_ctrl),
-            Command::FanCurve { k_a, k_b, k_c } => {
+            Command::FanCurve { k_a, k_b, k_c } => Handler::fan_curve(socket, fan_ctrl, k_a, k_b, k_c),
-                Handler::fan_curve(socket, fan_ctrl, k_a, k_b, k_c)
-            }
             Command::FanCurveDefaults => Handler::fan_defaults(socket, fan_ctrl),
             Command::ShowHWRev => Handler::show_hwrev(socket, hwrev),
         }

src/command_parser.rs

@@ -2,20 +2,19 @@ use core::fmt;
 use core::num::ParseIntError;
 use core::str::{from_utf8, Utf8Error};
 use nom::{
+    IResult,
     branch::alt,
     bytes::complete::{is_a, tag, take_while1},
-    character::{
+    character::{is_digit, complete::{char, one_of}},
-        complete::{char, one_of},
-        is_digit,
-    },
     combinator::{complete, map, opt, value},
-    error::ErrorKind,
-    multi::{fold_many0, fold_many1},
     sequence::preceded,
-    IResult, Needed,
+    multi::{fold_many0, fold_many1},
+    error::ErrorKind,
+    Needed,
 };
 use num_traits::{Num, ParseFloatError};
-use serde::{Deserialize, Serialize};
+use serde::{Serialize, Deserialize};
+
 
 #[derive(Clone, Debug, PartialEq)]
 pub enum Error {
@@ -31,9 +30,12 @@ pub enum Error {
 impl<'t> From<nom::Err<(&'t [u8], ErrorKind)>> for Error {
     fn from(e: nom::Err<(&'t [u8], ErrorKind)>) -> Self {
         match e {
-            nom::Err::Incomplete(_) => Error::Incomplete,
+            nom::Err::Incomplete(_) =>
-            nom::Err::Error((_, e)) => Error::Parser(e),
+                Error::Incomplete,
-            nom::Err::Failure((_, e)) => Error::Parser(e),
+            nom::Err::Error((_, e)) =>
+                Error::Parser(e),
+            nom::Err::Failure((_, e)) =>
+                Error::Parser(e),
         }
     }
 }
@@ -59,7 +61,8 @@ impl From<ParseFloatError> for Error {
 impl fmt::Display for Error {
     fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
         match self {
-            Error::Incomplete => "incomplete input".fmt(fmt),
+            Error::Incomplete =>
+                "incomplete input".fmt(fmt),
             Error::UnexpectedInput(c) => {
                 "unexpected input: ".fmt(fmt)?;
                 c.fmt(fmt)
@@ -76,7 +79,9 @@ impl fmt::Display for Error {
                 "parsing int: ".fmt(fmt)?;
                 (e as &dyn core::fmt::Debug).fmt(fmt)
             }
-            Error::ParseFloat => "parsing float".fmt(fmt),
+            Error::ParseFloat => {
+                "parsing float".fmt(fmt)
+            }
         }
     }
 }
@@ -126,7 +131,7 @@ pub enum PwmPin {
 
 #[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
 pub enum CenterPoint {
-    VRef,
+    Vref,
     Override(f32),
 }
 
@@ -183,7 +188,7 @@ pub enum Command {
     },
     Dfu,
     FanSet {
-        fan_pwm: u32,
+        fan_pwm: u32
     },
     FanAuto,
     ShowFan,
@@ -197,7 +202,12 @@ pub enum Command {
 }
 
 fn end(input: &[u8]) -> IResult<&[u8], ()> {
-    complete(fold_many0(one_of("\r\n\t "), (), |(), _| ()))(input)
+    complete(
+        fold_many0(
+            one_of("\r\n\t "),
+            (), |(), _| ()
+        )
+    )(input)
 }
 
 fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
@@ -205,10 +215,14 @@ fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
 }
 
 fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u32, Error>> {
-    take_while1(is_digit)(input).map(|(input, digits)| {
+    take_while1(is_digit)(input)
-        let result = from_utf8(digits)
+        .map(|(input, digits)| {
+            let result =
+                from_utf8(digits)
                 .map_err(|e| e.into())
-            .and_then(|digits| digits.parse::<u32>().map_err(|e| e.into()));
+                .and_then(|digits| u32::from_str_radix(digits, 10)
+                     .map_err(|e| e.into())
+                );
             (input, result)
         })
 }
@@ -216,10 +230,13 @@ fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u32, Error>> {
 fn float(input: &[u8]) -> IResult<&[u8], Result<f64, Error>> {
     let (input, sign) = opt(is_a("-"))(input)?;
     let negative = sign.is_some();
-    let (input, digits) = take_while1(|c| is_digit(c) || c == b'.')(input)?;
+    let (input, digits) = take_while1(|c| is_digit(c) || c == '.' as u8)(input)?;
-    let result = from_utf8(digits)
+    let result =
+        from_utf8(digits)
         .map_err(|e| e.into())
-        .and_then(|digits| f64::from_str_radix(digits, 10).map_err(|e| e.into()))
+        .and_then(|digits| f64::from_str_radix(digits, 10)
+                  .map_err(|e| e.into())
+        )
         .map(|result: f64| if negative { -result } else { result });
     Ok((input, result))
 }
@@ -232,32 +249,57 @@ fn report(input: &[u8]) -> IResult<&[u8], Command> {
     preceded(
         tag("report"),
         // `report` - Report once
-        value(Command::Show(ShowCommand::Input), end),
+        value(Command::Show(ShowCommand::Input), end)
     )(input)
 }
 
 fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<(PwmPin, f64), Error>> {
-    let result_with_pin =
+    let result_with_pin = |pin: PwmPin|
-        |pin: PwmPin| move |result: Result<f64, Error>| result.map(|value| (pin, value));
+        move |result: Result<f64, Error>|
+        result.map(|value| (pin, value));
 
     alt((
         map(
-            preceded(tag("i_set"), preceded(whitespace, float)),
+            preceded(
-            result_with_pin(PwmPin::ISet),
+                tag("i_set"),
+                preceded(
+                    whitespace,
+                    float
+                )
+            ),
+            result_with_pin(PwmPin::ISet)
         ),
         map(
-            preceded(tag("max_i_pos"), preceded(whitespace, float)),
+            preceded(
-            result_with_pin(PwmPin::MaxIPos),
+                tag("max_i_pos"),
+                preceded(
+                    whitespace,
+                    float
+                )
+            ),
+            result_with_pin(PwmPin::MaxIPos)
         ),
         map(
-            preceded(tag("max_i_neg"), preceded(whitespace, float)),
+            preceded(
-            result_with_pin(PwmPin::MaxINeg),
+                tag("max_i_neg"),
+                preceded(
+                    whitespace,
+                    float
+                )
+            ),
+            result_with_pin(PwmPin::MaxINeg)
         ),
         map(
-            preceded(tag("max_v"), preceded(whitespace, float)),
+            preceded(
-            result_with_pin(PwmPin::MaxV),
+                tag("max_v"),
+                preceded(
+                    whitespace,
+                    float
+                )
             ),
-    ))(input)
+            result_with_pin(PwmPin::MaxV)
+        ))
+    )(input)
 }
 
 /// `pwm <0-1> pid` - Set PWM to be controlled by PID
@@ -270,11 +312,10 @@ fn pwm_polarity(input: &[u8]) -> IResult<&[u8], Polarity> {
         tag("polarity"),
         preceded(
             whitespace,
-            alt((
+            alt((value(Polarity::Normal, tag("normal")),
-                value(Polarity::Normal, tag("normal")),
+                 value(Polarity::Reversed, tag("reversed"))
-                value(Polarity::Reversed, tag("reversed")),
+            ))
-            )),
+        )
-        ),
     )(input)
 }
 
@@ -297,22 +338,17 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
                 |input| {
                     let (input, config) = pwm_setup(input)?;
                     match config {
-                        Ok((pin, value)) => Ok((
+                        Ok((pin, value)) =>
-                            input,
+                            Ok((input, Ok(Command::Pwm { channel, pin, value }))),
-                            Ok(Command::Pwm {
+                        Err(e) =>
-                                channel,
+                            Ok((input, Err(e))),
-                                pin,
-                                value,
-                            }),
-                        )),
-                        Err(e) => Ok((input, Err(e))),
                     }
                 },
             ))(input)?;
             end(input)?;
             Ok((input, result))
         },
-        value(Ok(Command::Show(ShowCommand::Pwm)), end),
+        value(Ok(Command::Show(ShowCommand::Pwm)), end)
     ))(input)
 }
 
@@ -321,26 +357,26 @@ fn center_point(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, _) = whitespace(input)?;
     let (input, channel) = channel(input)?;
     let (input, _) = whitespace(input)?;
-    let (input, center) = alt((value(Ok(CenterPoint::VRef), tag("vref")), |input| {
+    let (input, center) = alt((
+        value(Ok(CenterPoint::Vref), tag("vref")),
+        |input| {
             let (input, value) = float(input)?;
-        Ok((
+            Ok((input, value.map(|value| CenterPoint::Override(value as f32))))
-            input,
+        }
-            value.map(|value| CenterPoint::Override(value as f32)),
+    ))(input)?;
-        ))
-    }))(input)?;
     end(input)?;
-    Ok((
+    Ok((input, center.map(|center| Command::CenterPoint {
-        input,
+        channel,
-        center.map(|center| Command::CenterPoint { channel, center }),
+        center,
-    ))
+    })))
 }
 
 /// `pid <0-1> <parameter> <value>`
 fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, channel) = channel(input)?;
     let (input, _) = whitespace(input)?;
-    let (input, parameter) = alt((
+    let (input, parameter) =
-        value(PidParameter::Target, tag("target")),
+        alt((value(PidParameter::Target, tag("target")),
              value(PidParameter::KP, tag("kp")),
              value(PidParameter::KI, tag("ki")),
              value(PidParameter::KD, tag("kd")),
@@ -349,11 +385,8 @@ fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
         ))(input)?;
     let (input, _) = whitespace(input)?;
     let (input, value) = float(input)?;
-    let result = value.map(|value| Command::Pid {
+    let result = value
-        channel,
+        .map(|value| Command::Pid { channel, parameter, value });
-        parameter,
-        value,
-    });
     Ok((input, result))
 }
 
@@ -361,8 +394,11 @@ fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
 fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, _) = tag("pid")(input)?;
     alt((
-        preceded(whitespace, pid_parameter),
+        preceded(
-        value(Ok(Command::Show(ShowCommand::Pid)), end),
+            whitespace,
+            pid_parameter
+        ),
+        value(Ok(Command::Show(ShowCommand::Pid)), end)
     ))(input)
 }
 
@@ -370,18 +406,15 @@ fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
 fn steinhart_hart_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, channel) = channel(input)?;
     let (input, _) = whitespace(input)?;
-    let (input, parameter) = alt((
+    let (input, parameter) =
-        value(ShParameter::T0, tag("t0")),
+        alt((value(ShParameter::T0, tag("t0")),
              value(ShParameter::B, tag("b")),
-        value(ShParameter::R0, tag("r0")),
+             value(ShParameter::R0, tag("r0"))
         ))(input)?;
     let (input, _) = whitespace(input)?;
     let (input, value) = float(input)?;
-    let result = value.map(|value| Command::SteinhartHart {
+    let result = value
-        channel,
+        .map(|value| Command::SteinhartHart { channel, parameter, value });
-        parameter,
-        value,
-    });
     Ok((input, result))
 }
 
@@ -389,38 +422,42 @@ fn steinhart_hart_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Erro
 fn steinhart_hart(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, _) = tag("s-h")(input)?;
     alt((
-        preceded(whitespace, steinhart_hart_parameter),
+        preceded(
-        value(Ok(Command::Show(ShowCommand::SteinhartHart)), end),
+            whitespace,
+            steinhart_hart_parameter
+        ),
+        value(Ok(Command::Show(ShowCommand::SteinhartHart)), end)
     ))(input)
 }
 
 fn postfilter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, _) = tag("postfilter")(input)?;
     alt((
-        preceded(whitespace, |input| {
+        preceded(
+            whitespace,
+            |input| {
                 let (input, channel) = channel(input)?;
                 let (input, _) = whitespace(input)?;
                 alt((
-                value(
+                    value(Ok(Command::PostFilter {
-                    Ok(Command::PostFilter {
                         channel,
                         rate: None,
-                    }),
+                    }), tag("off")),
-                    tag("off"),
-                ),
                     move |input| {
                         let (input, _) = tag("rate")(input)?;
                         let (input, _) = whitespace(input)?;
                         let (input, rate) = float(input)?;
-                    let result = rate.map(|rate| Command::PostFilter {
+                        let result = rate
+                            .map(|rate| Command::PostFilter {
                                 channel,
                                 rate: Some(rate as f32),
                             });
                         Ok((input, result))
-                },
+                    }
                 ))(input)
-        }),
+            }
-        value(Ok(Command::Show(ShowCommand::PostFilter)), end),
+        ),
+        value(Ok(Command::Show(ShowCommand::PostFilter)), end)
     ))(input)
 }
 
@@ -433,7 +470,7 @@ fn load(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             let (input, _) = end(input)?;
             Ok((input, Some(channel)))
         },
-        value(None, end),
+        value(None, end)
     ))(input)?;
 
     let result = Ok(Command::Load { channel });
@@ -449,7 +486,7 @@ fn save(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             let (input, _) = end(input)?;
             Ok((input, Some(channel)))
         },
-        value(None, end),
+        value(None, end)
     ))(input)?;
 
     let result = Ok(Command::Save { channel });
@@ -511,17 +548,12 @@ fn fan(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
                 },
                 |input| {
                     let (input, value) = unsigned(input)?;
-                    Ok((
+                    Ok((input, Ok(Command::FanSet { fan_pwm: value.unwrap_or(0)})))
-                        input,
-                        Ok(Command::FanSet {
-                            fan_pwm: value.unwrap_or(0),
-                        }),
-                    ))
                 },
             ))(input)?;
             Ok((input, result))
         },
-        value(Ok(Command::ShowFan), end),
+        value(Ok(Command::ShowFan), end)
     ))(input)
 }
 
@@ -541,15 +573,8 @@ fn fan_curve(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
                     let (input, k_b) = float(input)?;
                     let (input, _) = whitespace(input)?;
                     let (input, k_c) = float(input)?;
-                    if let (Ok(k_a), Ok(k_b), Ok(k_c)) = (k_a, k_b, k_c) {
+                    if k_a.is_ok() && k_b.is_ok() && k_c.is_ok() {
-                        Ok((
+                        Ok((input, Ok(Command::FanCurve { k_a: k_a.unwrap() as f32, k_b: k_b.unwrap() as f32, k_c: k_c.unwrap() as f32 })))
-                            input,
-                            Ok(Command::FanCurve {
-                                k_a: k_a as f32,
-                                k_b: k_b as f32,
-                                k_c: k_c as f32,
-                            }),
-                        ))
                     } else {
                         Err(nom::Err::Incomplete(Needed::Size(3)))
                     }
@@ -557,13 +582,12 @@ fn fan_curve(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             ))(input)?;
             Ok((input, result))
         },
-        value(Err(Error::Incomplete), end),
+        value(Err(Error::Incomplete), end)
     ))(input)
 }
 
 fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
-    alt((
+    alt((value(Ok(Command::Quit), tag("quit")),
-        value(Ok(Command::Quit), tag("quit")),
          load,
          save,
          value(Ok(Command::Reset), tag("reset")),
@@ -584,9 +608,12 @@ fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
 impl Command {
     pub fn parse(input: &[u8]) -> Result<Self, Error> {
         match command(input) {
-            Ok((input_remain, result)) if input_remain.is_empty() => result,
+            Ok((input_remain, result)) if input_remain.len() == 0 =>
-            Ok((input_remain, _)) => Err(Error::UnexpectedInput(input_remain[0])),
+                result,
-            Err(e) => Err(e.into()),
+            Ok((input_remain, _)) =>
+                Err(Error::UnexpectedInput(input_remain[0])),
+            Err(e) =>
+                Err(e.into()),
         }
     }
 }
@@ -634,27 +661,21 @@ mod test {
     #[test]
     fn parse_ipv4() {
         let command = Command::parse(b"ipv4 192.168.1.26/24");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Ipv4(Ipv4Config {
-            command,
-            Ok(Command::Ipv4(Ipv4Config {
             address: [192, 168, 1, 26],
             mask_len: 24,
             gateway: None,
-            }))
+        })));
-        );
     }
 
     #[test]
     fn parse_ipv4_and_gateway() {
         let command = Command::parse(b"ipv4 10.42.0.126/8 10.1.0.1");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Ipv4(Ipv4Config {
-            command,
-            Ok(Command::Ipv4(Ipv4Config {
             address: [10, 42, 0, 126],
             mask_len: 8,
             gateway: Some([10, 1, 0, 1]),
-            }))
+        })));
-        );
     }
 
     #[test]
@@ -666,71 +687,58 @@ mod test {
     #[test]
     fn parse_pwm_i_set() {
         let command = Command::parse(b"pwm 1 i_set 16383");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Pwm {
-            command,
-            Ok(Command::Pwm {
             channel: 1,
             pin: PwmPin::ISet,
             value: 16383.0,
-            })
+        }));
-        );
     }
 
     #[test]
     fn parse_pwm_polarity() {
         let command = Command::parse(b"pwm 0 polarity reversed");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::PwmPolarity {
-            command,
-            Ok(Command::PwmPolarity {
             channel: 0,
             polarity: Polarity::Reversed,
-            })
+        }));
-        );
     }
 
     #[test]
     fn parse_pwm_pid() {
         let command = Command::parse(b"pwm 0 pid");
-        assert_eq!(command, Ok(Command::PwmPid { channel: 0 }));
+        assert_eq!(command, Ok(Command::PwmPid {
+            channel: 0,
+        }));
     }
 
     #[test]
     fn parse_pwm_max_i_pos() {
         let command = Command::parse(b"pwm 0 max_i_pos 7");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Pwm {
-            command,
-            Ok(Command::Pwm {
             channel: 0,
             pin: PwmPin::MaxIPos,
             value: 7.0,
-            })
+        }));
-        );
     }
 
     #[test]
     fn parse_pwm_max_i_neg() {
         let command = Command::parse(b"pwm 0 max_i_neg 128");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Pwm {
-            command,
-            Ok(Command::Pwm {
             channel: 0,
             pin: PwmPin::MaxINeg,
             value: 128.0,
-            })
+        }));
-        );
     }
 
     #[test]
     fn parse_pwm_max_v() {
         let command = Command::parse(b"pwm 0 max_v 32768");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Pwm {
-            command,
-            Ok(Command::Pwm {
             channel: 0,
             pin: PwmPin::MaxV,
             value: 32768.0,
-            })
+        }));
-        );
     }
 
     #[test]
@@ -742,14 +750,11 @@ mod test {
     #[test]
     fn parse_pid_target() {
         let command = Command::parse(b"pid 0 target 36.5");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Pid {
-            command,
-            Ok(Command::Pid {
             channel: 0,
             parameter: PidParameter::Target,
             value: 36.5,
-            })
+        }));
-        );
     }
 
     #[test]
@@ -761,14 +766,11 @@ mod test {
     #[test]
     fn parse_steinhart_hart_set() {
         let command = Command::parse(b"s-h 1 t0 23.05");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::SteinhartHart {
-            command,
-            Ok(Command::SteinhartHart {
             channel: 1,
             parameter: ShParameter::T0,
             value: 23.05,
-            })
+        }));
-        );
     }
 
     #[test]
@@ -780,49 +782,37 @@ mod test {
     #[test]
     fn parse_postfilter_off() {
         let command = Command::parse(b"postfilter 1 off");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::PostFilter {
-            command,
-            Ok(Command::PostFilter {
             channel: 1,
             rate: None,
-            })
+        }));
-        );
     }
 
     #[test]
     fn parse_postfilter_rate() {
         let command = Command::parse(b"postfilter 0 rate 21");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::PostFilter {
-            command,
-            Ok(Command::PostFilter {
             channel: 0,
             rate: Some(21.0),
-            })
+        }));
-        );
     }
 
     #[test]
     fn parse_center_point() {
         let command = Command::parse(b"center 0 1.5");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::CenterPoint {
-            command,
-            Ok(Command::CenterPoint {
             channel: 0,
             center: CenterPoint::Override(1.5),
-            })
+        }));
-        );
     }
 
     #[test]
     fn parse_center_point_vref() {
         let command = Command::parse(b"center 1 vref");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::CenterPoint {
-            command,
-            Ok(Command::CenterPoint {
             channel: 1,
-                center: CenterPoint::VRef,
+            center: CenterPoint::Vref,
-            })
+        }));
-        );
     }
 
     #[test]
@@ -846,14 +836,11 @@ mod test {
     #[test]
     fn parse_fcurve_set() {
         let command = Command::parse(b"fcurve 1.2 3.4 5.6");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::FanCurve {
-            command,
-            Ok(Command::FanCurve {
             k_a: 1.2,
             k_b: 3.4,
             k_c: 5.6
-            })
+        }));
-        );
     }
 
     #[test]

src/config.rs

@@ -1,3 +1,6 @@
+use num_traits::Zero;
+use serde::{Serialize, Deserialize};
+use uom::si::f64::ElectricCurrent;
 use crate::{
     ad7172::PostFilter,
     channels::Channels,
@@ -6,9 +9,6 @@ use crate::{
     pwm_limits::PwmLimits,
     steinhart_hart,
 };
-use num_traits::Zero;
-use serde::{Deserialize, Serialize};
-use uom::si::f64::ElectricCurrent;
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct ChannelConfig {
@@ -28,9 +28,7 @@ impl ChannelConfig {
     pub fn new(channels: &mut Channels, channel: usize) -> Self {
         let pwm = PwmLimits::new(channels, channel);
 
-        let adc_postfilter = channels
+        let adc_postfilter = channels.adc.get_postfilter(channel as u8)
-            .adc
-            .get_postfilter(channel as u8)
             .unwrap()
             .unwrap_or(PostFilter::Invalid);
 

src/fan_ctrl.rs

@@ -1,17 +1,25 @@
-use crate::{channels::MAX_TEC_I, command_handler::JsonBuffer, hw_rev::HWSettings};
 use num_traits::Float;
 use serde::Serialize;
 use stm32f4xx_hal::{
-    pac::TIM8,
     pwm::{self, PwmChannels},
+    pac::TIM8,
+};
+use uom::si::{
+    f64::ElectricCurrent,
+    electric_current::ampere,
+};
+use crate::{
+    hw_rev::HWSettings,
+    command_handler::JsonBuffer,
+    channels::MAX_TEC_I,
 };
-use uom::si::{electric_current::ampere, f64::ElectricCurrent};
 
 pub type FanPin = PwmChannels<TIM8, pwm::C4>;
 
 const MAX_USER_FAN_PWM: f32 = 100.0;
 const MIN_USER_FAN_PWM: f32 = 1.0;
 
+
 pub struct FanCtrl {
     fan: Option<FanPin>,
     fan_auto: bool,
@@ -48,9 +56,7 @@ impl FanCtrl {
         if self.fan_auto && self.hw_settings.fan_available {
             let scaled_current = self.abs_max_tec_i / MAX_TEC_I.get::<ampere>() as f32;
             // do not limit upper bound, as it will be limited in the set_pwm()
-            let pwm = (MAX_USER_FAN_PWM
+            let pwm = (MAX_USER_FAN_PWM * (scaled_current * (scaled_current * self.k_a + self.k_b) + self.k_c)) as u32;
-                * (scaled_current * (scaled_current * self.k_a + self.k_b) + self.k_c))
-                as u32;
             self.set_pwm(pwm);
         }
     }
@@ -83,11 +89,9 @@ impl FanCtrl {
     }
 
     pub fn restore_defaults(&mut self) {
-        self.set_curve(
+        self.set_curve(self.hw_settings.fan_k_a,
-            self.hw_settings.fan_k_a,
                        self.hw_settings.fan_k_b,
-            self.hw_settings.fan_k_c,
+                       self.hw_settings.fan_k_c);
-        );
     }
 
     pub fn set_pwm(&mut self, fan_pwm: u32) -> f32 {
@@ -95,14 +99,8 @@ impl FanCtrl {
             return 0f32;
         }
         let fan = self.fan.as_mut().unwrap();
-        let fan_pwm = fan_pwm.clamp(MIN_USER_FAN_PWM as u32, MAX_USER_FAN_PWM as u32);
+        let fan_pwm = fan_pwm.min(MAX_USER_FAN_PWM as u32).max(MIN_USER_FAN_PWM as u32);
-        let duty = scale_number(
+        let duty = scale_number(fan_pwm as f32, self.hw_settings.min_fan_pwm, self.hw_settings.max_fan_pwm, MIN_USER_FAN_PWM, MAX_USER_FAN_PWM);
-            fan_pwm as f32,
-            self.hw_settings.min_fan_pwm,
-            self.hw_settings.max_fan_pwm,
-            MIN_USER_FAN_PWM,
-            MAX_USER_FAN_PWM,
-        );
         let max = fan.get_max_duty();
         let value = ((duty * (max as f32)) as u16).min(max);
         fan.set_duty(value);
@@ -121,17 +119,8 @@ impl FanCtrl {
         if let Some(fan) = &self.fan {
             let duty = fan.get_duty();
             let max = fan.get_max_duty();
-            scale_number(
+            scale_number(duty as f32 / (max as f32), MIN_USER_FAN_PWM, MAX_USER_FAN_PWM, self.hw_settings.min_fan_pwm, self.hw_settings.max_fan_pwm).round() as u32
-                duty as f32 / (max as f32),
+        } else { 0 }
-                MIN_USER_FAN_PWM,
-                MAX_USER_FAN_PWM,
-                self.hw_settings.min_fan_pwm,
-                self.hw_settings.max_fan_pwm,
-            )
-            .round() as u32
-        } else {
-            0
-        }
     }
 
     fn enable_pwm(&mut self) -> bool {
@@ -147,6 +136,7 @@ impl FanCtrl {
     }
 }
 
+
 fn scale_number(unscaled: f32, to_min: f32, to_max: f32, from_min: f32, from_max: f32) -> f32 {
     (to_max - to_min) * (unscaled - from_min) / (from_max - from_min) + to_min
 }

src/flash_store.rs

@@ -1,9 +1,9 @@
-use log::{error, info};
+use log::{info, error};
-use sfkv::{Store, StoreBackend};
 use stm32f4xx_hal::{
     flash::{Error, FlashExt},
     stm32::FLASH,
 };
+use sfkv::{Store, StoreBackend};
 
 /// 16 KiB
 pub const FLASH_SECTOR_SIZE: usize = 0x4000;
@@ -21,7 +21,9 @@ pub struct FlashBackend {
 }
 
 fn get_offset() -> usize {
-    unsafe { (&_config_start as *const usize as usize) - (&_flash_start as *const usize as usize) }
+    unsafe {
+        (&_config_start as *const usize as usize) - (&_flash_start as *const usize as usize)
+    }    
 }
 
 impl StoreBackend for FlashBackend {
@@ -38,8 +40,7 @@ impl StoreBackend for FlashBackend {
     }
 
     fn program(&mut self, offset: usize, payload: &[u8]) -> Result<(), Self::Error> {
-        self.flash
+        self.flash.unlocked()
-            .unlocked()
             .program(get_offset() + offset, payload.iter())
     }
 
@@ -59,8 +60,7 @@ pub fn store(flash: FLASH) -> FlashStore {
         Ok(_) => {}
         Err(e) => {
             error!("corrupt store, erasing. error: {:?}", e);
-            let _ = store
+            let _ = store.erase()
-                .erase()
                 .map_err(|e| error!("flash erase failed: {:?}", e));
         }
     }

src/hw_rev.rs

@@ -1,6 +1,9 @@
 use serde::Serialize;
 
-use crate::{command_handler::JsonBuffer, pins::HWRevPins};
+use crate::{
+    pins::HWRevPins,
+    command_handler::JsonBuffer,
+};
 
 #[derive(Serialize, Copy, Clone)]
 pub struct HWRev {
@@ -28,17 +31,13 @@ struct HWSummary<'a> {
 
 impl HWRev {
     pub fn detect_hw_rev(hwrev_pins: &HWRevPins) -> Self {
-        let (h0, h1, h2, h3) = (
+        let (h0, h1, h2, h3) = (hwrev_pins.hwrev0.is_high(), hwrev_pins.hwrev1.is_high(),
-            hwrev_pins.hwrev0.is_high(),
+                                hwrev_pins.hwrev2.is_high(), hwrev_pins.hwrev3.is_high());
-            hwrev_pins.hwrev1.is_high(),
-            hwrev_pins.hwrev2.is_high(),
-            hwrev_pins.hwrev3.is_high(),
-        );
         match (h0, h1, h2, h3) {
             (true, true, true, false) => HWRev { major: 1, minor: 0 },
             (true, false, false, false) => HWRev { major: 2, minor: 0 },
             (false, true, false, false) => HWRev { major: 2, minor: 2 },
-            (_, _, _, _) => HWRev { major: 0, minor: 0 },
+            (_, _, _, _) => HWRev { major: 0, minor: 0 }
         }
     }
 
@@ -71,16 +70,13 @@ impl HWRev {
                 fan_pwm_freq_hz: 0,
                 fan_available: false,
                 fan_pwm_recommended: false,
-            },
+            }
         }
     }
 
     pub fn summary(&self) -> Result<JsonBuffer, serde_json_core::ser::Error> {
         let settings = self.settings();
-        let summary = HWSummary {
+        let summary = HWSummary { rev: self, settings: &settings };
-            rev: self,
-            settings: &settings,
-        };
         serde_json_core::to_vec(&summary)
     }
 }

src/init_log.rs

@@ -10,15 +10,17 @@ pub fn init_log() {
 
 #[cfg(feature = "semihosting")]
 pub fn init_log() {
-    use cortex_m_log::log::{init, Logger};
-    use cortex_m_log::printer::semihosting::{hio::HStdout, InterruptOk};
     use log::LevelFilter;
+    use cortex_m_log::log::{Logger, init};
+    use cortex_m_log::printer::semihosting::{InterruptOk, hio::HStdout};
     static mut LOGGER: Option<Logger<InterruptOk<HStdout>>> = None;
     let logger = Logger {
         inner: InterruptOk::<_>::stdout().expect("semihosting stdout"),
         level: LevelFilter::Info,
     };
-    let logger = unsafe { LOGGER.get_or_insert(logger) };
+    let logger = unsafe {
+        LOGGER.get_or_insert(logger)
+    };
 
     init(logger).expect("set logger");
 }

src/leds.rs

@@ -1,6 +1,6 @@
 use stm32f4xx_hal::{
     gpio::{
-        gpiod::{PD10, PD11, PD9},
+        gpiod::{PD9, PD10, PD11},
         Output, PushPull,
     },
     hal::digital::v2::OutputPin,

src/main.rs

@@ -8,26 +8,30 @@ use panic_halt as _;
 #[cfg(all(feature = "semihosting", not(test)))]
 use panic_semihosting as _;
 
+use log::{error, info, warn};
 use cortex_m::asm::wfi;
 use cortex_m_rt::entry;
-use log::{error, info, warn};
-use smoltcp::{socket::TcpSocket, time::Instant, wire::EthernetAddress};
 use stm32f4xx_hal::{
-    hal::watchdog::{Watchdog, WatchdogEnable},
+    hal::watchdog::{WatchdogEnable, Watchdog},
     rcc::RccExt,
     stm32::{CorePeripherals, Peripherals, SCB},
-    time::{MegaHertz, U32Ext},
+    time::{U32Ext, MegaHertz},
     watchdog::IndependentWatchdog,
 };
+use smoltcp::{
+    time::Instant,
+    socket::TcpSocket,
+    wire::EthernetAddress,
+};
 
 mod init_log;
 use init_log::init_log;
+mod usb;
 mod leds;
 mod pins;
-mod usb;
 use pins::Pins;
-mod ad5680;
 mod ad7172;
+mod ad5680;
 mod net;
 mod server;
 use server::Server;
@@ -35,19 +39,19 @@ mod session;
 use session::{Session, SessionInput};
 mod command_parser;
 use command_parser::Ipv4Config;
-mod channels;
+mod timer;
 mod pid;
 mod pwm_limits;
 mod steinhart_hart;
-mod timer;
+mod channels;
-use channels::{Channels, CHANNELS};
+use channels::{CHANNELS, Channels};
 mod channel;
 mod channel_state;
 mod config;
 use config::ChannelConfig;
-mod command_handler;
-mod dfu;
 mod flash_store;
+mod dfu;
+mod command_handler;
 use command_handler::Handler;
 mod fan_ctrl;
 use fan_ctrl::FanCtrl;
@@ -70,19 +74,19 @@ fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
         // instead of sending incomplete line
         warn!(
             "TCP socket has only {}/{} needed {}",
-            send_free + 1,
+            send_free + 1, socket.send_capacity(), data.len(),
-            socket.send_capacity(),
-            data.len(),
         );
     } else {
-        match socket.send_slice(data) {
+        match socket.send_slice(&data) {
             Ok(sent) if sent == data.len() => {
                 let _ = socket.send_slice(b"\n");
                 // success
-                return true;
+                return true
             }
-            Ok(sent) => warn!("sent only {}/{} bytes", sent, data.len()),
+            Ok(sent) =>
-            Err(e) => error!("error sending line: {:?}", e),
+                warn!("sent only {}/{} bytes", sent, data.len()),
+            Err(e) =>
+                error!("error sending line: {:?}", e),
         }
     }
     // not success
@@ -101,9 +105,7 @@ fn main() -> ! {
     cp.SCB.enable_dcache(&mut cp.CPUID);
 
     let dp = Peripherals::take().unwrap();
-    let clocks = dp
+    let clocks = dp.RCC.constrain()
-        .RCC
-        .constrain()
         .cfgr
         .use_hse(HSE)
         .sysclk(168.mhz())
@@ -119,15 +121,14 @@ fn main() -> ! {
     timer::setup(cp.SYST, clocks);
 
     let (pins, mut leds, mut eeprom, eth_pins, usb, fan, hwrev, hw_settings) = Pins::setup(
-        clocks,
+        clocks, dp.TIM1, dp.TIM3, dp.TIM8,
-        (dp.TIM1, dp.TIM3, dp.TIM8),
-        (
         dp.GPIOA, dp.GPIOB, dp.GPIOC, dp.GPIOD, dp.GPIOE, dp.GPIOF, dp.GPIOG,
-        ),
         dp.I2C1,
-        (dp.SPI2, dp.SPI4, dp.SPI5),
+        dp.SPI2, dp.SPI4, dp.SPI5,
         dp.ADC1,
-        (dp.OTG_FS_GLOBAL, dp.OTG_FS_DEVICE, dp.OTG_FS_PWRCLK),
+        dp.OTG_FS_GLOBAL,
+        dp.OTG_FS_DEVICE,
+        dp.OTG_FS_PWRCLK,
     );
 
     leds.r1.on();
@@ -139,11 +140,14 @@ fn main() -> ! {
     let mut store = flash_store::store(dp.FLASH);
 
     let mut channels = Channels::new(pins);
-    for (c, key) in CHANNEL_CONFIG_KEY.iter().enumerate().take(CHANNELS) {
+    for c in 0..CHANNELS {
-        match store.read_value::<ChannelConfig>(key) {
+        match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
-            Ok(Some(config)) => config.apply(&mut channels, c),
+            Ok(Some(config)) =>
-            Ok(None) => error!("flash config not found for channel {}", c),
+                config.apply(&mut channels, c),
-            Err(e) => error!("unable to load config {} from flash: {:?}", c, e),
+            Ok(None) =>
+                error!("flash config not found for channel {}", c),
+            Err(e) =>
+                error!("unable to load config {} from flash: {:?}", c, e),
         }
     }
 
@@ -156,9 +160,11 @@ fn main() -> ! {
         gateway: None,
     };
     match store.read_value("ipv4") {
-        Ok(Some(config)) => ipv4_config = config,
+        Ok(Some(config)) =>
+            ipv4_config = config,
         Ok(None) => {}
-        Err(e) => error!("cannot read ipv4 config: {:?}", e),
+        Err(e) =>
+            error!("cannot read ipv4 config: {:?}", e),
     }
 
     // EEPROM ships with a read-only EUI-48 identifier
@@ -167,14 +173,7 @@ fn main() -> ! {
     let hwaddr = EthernetAddress(eui48);
     info!("EEPROM MAC address: {}", hwaddr);
 
-    net::run(
+    net::run(clocks, dp.ETHERNET_MAC, dp.ETHERNET_DMA, eth_pins, hwaddr, ipv4_config.clone(), |iface| {
-        clocks,
-        dp.ETHERNET_MAC,
-        dp.ETHERNET_DMA,
-        eth_pins,
-        hwaddr,
-        ipv4_config.clone(),
-        |iface| {
         Server::<Session>::run(iface, |server| {
             leds.r1.off();
             let mut should_reset = false;
@@ -194,7 +193,8 @@ fn main() -> ! {
 
                 let instant = Instant::from_millis(i64::from(timer::now()));
                 cortex_m::interrupt::free(net::clear_pending);
-                    server.poll(instant).unwrap_or_else(|e| {
+                server.poll(instant)
+                    .unwrap_or_else(|e| {
                         warn!("poll: {:?}", e);
                     });
 
@@ -214,27 +214,20 @@ fn main() -> ! {
                                 // Do nothing and feed more data to the line reader in the next loop cycle.
                                 Ok(SessionInput::Nothing) => {}
                                 Ok(SessionInput::Command(command)) => {
-                                        match Handler::handle_command(
+                                    match Handler::handle_command(command, &mut socket, &mut channels, &mut store, &mut ipv4_config, &mut fan_ctrl, hwrev) {
-                                            command,
-                                            &mut socket,
-                                            &mut channels,
-                                            &mut store,
-                                            &mut ipv4_config,
-                                            &mut fan_ctrl,
-                                            hwrev,
-                                        ) {
                                         Ok(Handler::NewIPV4(ip)) => new_ipv4_config = Some(ip),                                
-                                            Ok(Handler::Handled) => {}
+                                        Ok(Handler::Handled) => {},
                                         Ok(Handler::CloseSocket) => socket.close(),
                                         Ok(Handler::Reset) => should_reset = true,
-                                            Err(_) => {}
+                                        Err(_) => {},
                                     }
                                 }
                                 Ok(SessionInput::Error(e)) => {
                                     error!("session input: {:?}", e);
                                     send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
                                 }
-                                    Err(_) => socket.close(),
+                                Err(_) =>
+                                    socket.close(),
                             }
                         }
                     });
@@ -255,10 +248,11 @@ fn main() -> ! {
                 }
 
                 // Apply new IPv4 address/gateway
-                    if let Some(config) = new_ipv4_config.take() {
+                new_ipv4_config.take()
+                    .map(|config| {
                         server.set_ipv4_config(config.clone());
                         ipv4_config = config;
-                    };
+                    });
 
                 // Update watchdog
                 wd.feed();
@@ -274,8 +268,7 @@ fn main() -> ! {
                 leds.g4.on();
             }
         });
-        },
+    });
-    );
 
     unreachable!()
 }

src/net.rs

@@ -1,17 +1,20 @@
 //! As there is only one peripheral, supporting data structures are
 //! declared once and globally.
 
-use crate::command_parser::Ipv4Config;
-use crate::pins::EthernetPins;
 use core::cell::RefCell;
 use cortex_m::interrupt::{CriticalSection, Mutex};
-use smoltcp::iface::{EthernetInterface, EthernetInterfaceBuilder, NeighborCache, Routes};
-use smoltcp::wire::{EthernetAddress, Ipv4Address, Ipv4Cidr};
-use stm32_eth::{Eth, RingEntry, RxDescriptor, TxDescriptor};
 use stm32f4xx_hal::{
-    pac::{interrupt, Peripherals, ETHERNET_DMA, ETHERNET_MAC},
     rcc::Clocks,
+    pac::{interrupt, Peripherals, ETHERNET_MAC, ETHERNET_DMA},
 };
+use smoltcp::wire::{EthernetAddress, Ipv4Address, Ipv4Cidr};
+use smoltcp::iface::{
+    EthernetInterfaceBuilder, EthernetInterface,
+    NeighborCache, Routes,
+};
+use stm32_eth::{Eth, RingEntry, RxDescriptor, TxDescriptor};
+use crate::command_parser::Ipv4Config;
+use crate::pins::EthernetPins;
 
 /// Not on the stack so that stack can be placed in CCMRAM (which the
 /// ethernet peripheral cannot access)
@@ -27,27 +30,27 @@ static NET_PENDING: Mutex<RefCell<bool>> = Mutex::new(RefCell::new(false));
 /// Run callback `f` with ethernet driver and TCP/IP stack
 pub fn run<F>(
     clocks: Clocks,
-    ethernet_mac: ETHERNET_MAC,
+    ethernet_mac: ETHERNET_MAC, ethernet_dma: ETHERNET_DMA,
-    ethernet_dma: ETHERNET_DMA,
     eth_pins: EthernetPins,
     ethernet_addr: EthernetAddress,
     ipv4_config: Ipv4Config,
-    f: F,
+    f: F
 ) where
     F: FnOnce(EthernetInterface<&mut stm32_eth::Eth<'static, 'static>>),
 {
-    let rx_ring = unsafe { RX_RING.get_or_insert(Default::default()) };
+    let rx_ring = unsafe {
-    let tx_ring = unsafe { TX_RING.get_or_insert(Default::default()) };
+        RX_RING.get_or_insert(Default::default())
+    };
+    let tx_ring = unsafe {
+        TX_RING.get_or_insert(Default::default())
+    };
     // Ethernet driver
     let mut eth_dev = Eth::new(
-        ethernet_mac,
+        ethernet_mac, ethernet_dma,
-        ethernet_dma,
+        &mut rx_ring[..], &mut tx_ring[..],
-        &mut rx_ring[..],
-        &mut tx_ring[..],
         clocks,
         eth_pins,
-    )
+    ).unwrap();
-    .unwrap();
     eth_dev.enable_interrupt();
 
     // IP stack
@@ -73,7 +76,8 @@ pub fn run<F>(
 #[interrupt]
 fn ETH() {
     cortex_m::interrupt::free(|cs| {
-        *NET_PENDING.borrow(cs).borrow_mut() = true;
+        *NET_PENDING.borrow(cs)
+            .borrow_mut() = true;
     });
 
     let p = unsafe { Peripherals::steal() };
@@ -82,13 +86,15 @@ fn ETH() {
 
 /// Has an interrupt occurred since last call to `clear_pending()`?
 pub fn is_pending(cs: &CriticalSection) -> bool {
-    *NET_PENDING.borrow(cs).borrow()
+    *NET_PENDING.borrow(cs)
+        .borrow()
 }
 
 /// Clear the interrupt pending flag before polling the interface for
 /// data.
 pub fn clear_pending(cs: &CriticalSection) {
-    *NET_PENDING.borrow(cs).borrow_mut() = false;
+    *NET_PENDING.borrow(cs)
+        .borrow_mut() = false;
 }
 
 /// utility for destructuring into smoltcp types

src/pid.rs

@@ -1,4 +1,4 @@
-use serde::{Deserialize, Serialize};
+use serde::{Serialize, Deserialize};
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct Parameters {
@@ -39,7 +39,7 @@ pub struct Controller {
 impl Controller {
     pub const fn new(parameters: Parameters) -> Controller {
         Controller {
-            parameters,
+            parameters: parameters,
             target : 0.0,
             u1 : 0.0,
             x1 : 0.0,
@@ -56,6 +56,7 @@ impl Controller {
     //       + x2 * kd
     // y0  = clip(y0', ymin, ymax)
     pub fn update(&mut self, input: f64) -> f64 {
+        
         let mut output: f64 = self.y1 - self.target * f64::from(self.parameters.ki)
                             + input * f64::from(self.parameters.kp + self.parameters.ki + self.parameters.kd)
                             - self.x1 * f64::from(self.parameters.kp + 2.0 * self.parameters.kd)

src/pins.rs

@@ -1,41 +1,49 @@
-use crate::{
-    channel::{Channel0, Channel1},
-    fan_ctrl::FanPin,
-    hw_rev::{HWRev, HWSettings},
-    leds::Leds,
-};
-use eeprom24x::{self, Eeprom24x};
-use stm32_eth::EthPins;
 use stm32f4xx_hal::{
     adc::Adc,
     gpio::{
-        gpioa::*, gpiob::*, gpioc::*, gpioe::*, gpiof::*, gpiog::*, Alternate, AlternateOD, Analog,
+        AF5, Alternate, AlternateOD, Analog, Floating, Input,
-        Floating, GpioExt, Input, Output, PushPull, AF5,
+        gpioa::*,
+        gpiob::*,
+        gpioc::*,
+        gpioe::*,
+        gpiof::*,
+        gpiog::*,
+        GpioExt,
+        Output, PushPull,
     },
     hal::{self, blocking::spi::Transfer, digital::v2::OutputPin},
     i2c::I2c,
     otg_fs::USB,
-    pac::{
-        ADC1, GPIOA, GPIOB, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG, I2C1, OTG_FS_DEVICE, OTG_FS_GLOBAL,
-        OTG_FS_PWRCLK, SPI2, SPI4, SPI5, TIM1, TIM3, TIM8,
-    },
-    pwm::{self, PwmChannels},
     rcc::Clocks,
-    spi::{NoMiso, Spi, TransferModeNormal},
+    pwm::{self, PwmChannels},
-    time::U32Ext,
+    spi::{Spi, NoMiso, TransferModeNormal},
+    pac::{
+        ADC1,
+        GPIOA, GPIOB, GPIOC, GPIOD, GPIOE, GPIOF, GPIOG,
+        I2C1,
+        OTG_FS_GLOBAL, OTG_FS_DEVICE, OTG_FS_PWRCLK,
+        SPI2, SPI4, SPI5,
+        TIM1, TIM3, TIM8
+    },
     timer::Timer,
+    time::U32Ext,
+};
+use eeprom24x::{self, Eeprom24x};
+use stm32_eth::EthPins;
+use crate::{
+    channel::{Channel0, Channel1},
+    leds::Leds,
+    fan_ctrl::FanPin,
+    hw_rev::{HWRev, HWSettings},
 };
 
 pub type Eeprom = Eeprom24x<
-    I2c<
+    I2c<I2C1, (
-        I2C1,
-        (
         PB8<AlternateOD<{ stm32f4xx_hal::gpio::AF4 }>>,
-            PB9<AlternateOD<{ stm32f4xx_hal::gpio::AF4 }>>,
+        PB9<AlternateOD<{ stm32f4xx_hal::gpio::AF4 }>>
-        ),
+    )>,
-    >,
     eeprom24x::page_size::B8,
-    eeprom24x::addr_size::OneByte,
+    eeprom24x::addr_size::OneByte
 >;
 
 pub type EthernetPins = EthPins<
@@ -89,15 +97,7 @@ impl ChannelPins for Channel1 {
 }
 
 /// SPI peripheral used for communication with the ADC
-pub type AdcSpi = Spi<
+pub type AdcSpi = Spi<SPI2, (PB10<Alternate<AF5>>, PB14<Alternate<AF5>>, PB15<Alternate<AF5>>), TransferModeNormal>;
-    SPI2,
-    (
-        PB10<Alternate<AF5>>,
-        PB14<Alternate<AF5>>,
-        PB15<Alternate<AF5>>,
-    ),
-    TransferModeNormal,
->;
 pub type AdcNss = PB12<Output<PushPull>>;
 type Dac0Spi = Spi<SPI4, (PE2<Alternate<AF5>>, NoMiso, PE6<Alternate<AF5>>), TransferModeNormal>;
 type Dac1Spi = Spi<SPI5, (PF7<Alternate<AF5>>, NoMiso, PF9<Alternate<AF5>>), TransferModeNormal>;
@@ -133,34 +133,13 @@ impl Pins {
     /// Setup GPIO pins and configure MCU peripherals
     pub fn setup(
         clocks: Clocks,
-        (tim1, tim3, tim8): (TIM1, TIM3, TIM8),
+        tim1: TIM1, tim3: TIM3, tim8: TIM8,
-        (gpioa, gpiob, gpioc, gpiod, gpioe, gpiof, gpiog): (
+        gpioa: GPIOA, gpiob: GPIOB, gpioc: GPIOC, gpiod: GPIOD, gpioe: GPIOE, gpiof: GPIOF, gpiog: GPIOG,
-            GPIOA,
-            GPIOB,
-            GPIOC,
-            GPIOD,
-            GPIOE,
-            GPIOF,
-            GPIOG,
-        ),
         i2c1: I2C1,
-        (spi2, spi4, spi5): (SPI2, SPI4, SPI5),
+        spi2: SPI2, spi4: SPI4, spi5: SPI5,
         adc1: ADC1,
-        (otg_fs_global, otg_fs_device, otg_fs_pwrclk): (
+        otg_fs_global: OTG_FS_GLOBAL, otg_fs_device: OTG_FS_DEVICE, otg_fs_pwrclk: OTG_FS_PWRCLK,
-            OTG_FS_GLOBAL,
+    ) -> (Self, Leds, Eeprom, EthernetPins, USB, Option<FanPin>, HWRev, HWSettings) {
-            OTG_FS_DEVICE,
-            OTG_FS_PWRCLK,
-        ),
-    ) -> (
-        Self,
-        Leds,
-        Eeprom,
-        EthernetPins,
-        USB,
-        Option<FanPin>,
-        HWRev,
-        HWSettings,
-    ) {
         let gpioa = gpioa.split();
         let gpiob = gpiob.split();
         let gpioc = gpioc.split();
@@ -175,29 +154,23 @@ impl Pins {
         let pins_adc = Adc::adc1(adc1, true, Default::default());
 
         let pwm = PwmPins::setup(
-            clocks,
+            clocks, tim1, tim3,
-            (tim1, tim3),
+            gpioc.pc6, gpioc.pc7,
-            (gpioc.pc6, gpioc.pc7),
+            gpioe.pe9, gpioe.pe11,
-            (gpioe.pe9, gpioe.pe11),
+            gpioe.pe13, gpioe.pe14
-            (gpioe.pe13, gpioe.pe14),
         );
 
-        let hwrev = HWRev::detect_hw_rev(&HWRevPins {
+        let hwrev = HWRev::detect_hw_rev(&HWRevPins {hwrev0: gpiod.pd0, hwrev1: gpiod.pd1,
-            hwrev0: gpiod.pd0,
+            hwrev2: gpiod.pd2, hwrev3: gpiod.pd3});
-            hwrev1: gpiod.pd1,
-            hwrev2: gpiod.pd2,
-            hwrev3: gpiod.pd3,
-        });
         let hw_settings = hwrev.settings();
 
-        let (dac0_spi, dac0_sync) = Self::setup_dac0(clocks, spi4, gpioe.pe2, gpioe.pe4, gpioe.pe6);
+        let (dac0_spi, dac0_sync) = Self::setup_dac0(
+            clocks, spi4,
+            gpioe.pe2, gpioe.pe4, gpioe.pe6
+        );
         let mut shdn0 = gpioe.pe10.into_push_pull_output();
-        shdn0.set_low();
+        let _ = shdn0.set_low();
-        let vref0_pin = if hwrev.major > 2 {
+        let vref0_pin = if hwrev.major > 2 {Channel0VRef::Analog(gpioa.pa0.into_analog())} else {Channel0VRef::Disabled(gpioa.pa0)};
-            Channel0VRef::Analog(gpioa.pa0.into_analog())
-        } else {
-            Channel0VRef::Disabled(gpioa.pa0)
-        };
         let itec0_pin = gpioa.pa6.into_analog();
         let dac_feedback0_pin = gpioa.pa4.into_analog();
         let tec_u_meas0_pin = gpioc.pc2.into_analog();
@@ -211,14 +184,13 @@ impl Pins {
             tec_u_meas_pin: tec_u_meas0_pin,
         };
 
-        let (dac1_spi, dac1_sync) = Self::setup_dac1(clocks, spi5, gpiof.pf7, gpiof.pf6, gpiof.pf9);
+        let (dac1_spi, dac1_sync) = Self::setup_dac1(
+            clocks, spi5,
+            gpiof.pf7, gpiof.pf6, gpiof.pf9
+        );
         let mut shdn1 = gpioe.pe15.into_push_pull_output();
-        shdn1.set_low();
+        let _ = shdn1.set_low();
-        let vref1_pin = if hwrev.major > 2 {
+        let vref1_pin = if hwrev.major > 2 {Channel1VRef::Analog(gpioa.pa3.into_analog())} else {Channel1VRef::Disabled(gpioa.pa3)};
-            Channel1VRef::Analog(gpioa.pa3.into_analog())
-        } else {
-            Channel1VRef::Disabled(gpioa.pa3)
-        };
         let itec1_pin = gpiob.pb0.into_analog();
         let dac_feedback1_pin = gpioa.pa5.into_analog();
         let tec_u_meas1_pin = gpioc.pc3.into_analog();
@@ -233,19 +205,14 @@ impl Pins {
         };
 
         let pins = Pins {
-            adc_spi,
+            adc_spi, adc_nss,
-            adc_nss,
             pins_adc,
             pwm,
             channel0,
             channel1,
         };
 
-        let leds = Leds::new(
+        let leds = Leds::new(gpiod.pd9, gpiod.pd10.into_push_pull_output(), gpiod.pd11.into_push_pull_output());
-            gpiod.pd9,
-            gpiod.pd10.into_push_pull_output(),
-            gpiod.pd11.into_push_pull_output(),
-        );
 
         let eeprom_scl = gpiob.pb8.into_alternate().set_open_drain();
         let eeprom_sda = gpiob.pb9.into_alternate().set_open_drain();
@@ -272,13 +239,8 @@ impl Pins {
         };
 
         let fan = if hw_settings.fan_available {
-            Some(
+             Some(Timer::new(tim8, &clocks).pwm(gpioc.pc9.into_alternate(), hw_settings.fan_pwm_freq_hz.hz()))
-                Timer::new(tim8, &clocks)
+        } else { None };
-                    .pwm(gpioc.pc9.into_alternate(), hw_settings.fan_pwm_freq_hz.hz()),
-            )
-        } else {
-            None
-        };
 
         (pins, leds, eeprom, eth_pins, usb, fan, hwrev, hw_settings)
     }
@@ -290,7 +252,8 @@ impl Pins {
         sck: PB10<M1>,
         miso: PB14<M2>,
         mosi: PB15<M3>,
-    ) -> AdcSpi {
+    ) -> AdcSpi
+    {
         let sck = sck.into_alternate();
         let miso = miso.into_alternate();
         let mosi = mosi.into_alternate();
@@ -299,16 +262,13 @@ impl Pins {
             (sck, miso, mosi),
             crate::ad7172::SPI_MODE,
             crate::ad7172::SPI_CLOCK,
-            clocks,
+            clocks
         )
     }
 
     fn setup_dac0<M1, M2, M3>(
-        clocks: Clocks,
+        clocks: Clocks, spi4: SPI4,
-        spi4: SPI4,
+        sclk: PE2<M1>, sync: PE4<M2>, sdin: PE6<M3>
-        sclk: PE2<M1>,
-        sync: PE4<M2>,
-        sdin: PE6<M3>,
     ) -> (Dac0Spi, <Channel0 as ChannelPins>::DacSync) {
         let sclk = sclk.into_alternate();
         let sdin = sdin.into_alternate();
@@ -317,7 +277,7 @@ impl Pins {
             (sclk, NoMiso {}, sdin),
             crate::ad5680::SPI_MODE,
             crate::ad5680::SPI_CLOCK,
-            clocks,
+            clocks
         );
         let sync = sync.into_push_pull_output();
 
@@ -325,11 +285,8 @@ impl Pins {
     }
 
     fn setup_dac1<M1, M2, M3>(
-        clocks: Clocks,
+        clocks: Clocks, spi5: SPI5,
-        spi5: SPI5,
+        sclk: PF7<M1>, sync: PF6<M2>, sdin: PF9<M3>
-        sclk: PF7<M1>,
-        sync: PF6<M2>,
-        sdin: PF9<M3>,
     ) -> (Dac1Spi, <Channel1 as ChannelPins>::DacSync) {
         let sclk = sclk.into_alternate();
         let sdin = sdin.into_alternate();
@@ -338,7 +295,7 @@ impl Pins {
             (sclk, NoMiso {}, sdin),
             crate::ad5680::SPI_MODE,
             crate::ad5680::SPI_CLOCK,
-            clocks,
+            clocks
         );
         let sync = sync.into_push_pull_output();
 
@@ -358,10 +315,14 @@ pub struct PwmPins {
 impl PwmPins {
     fn setup<M1, M2, M3, M4, M5, M6>(
         clocks: Clocks,
-        (tim1, tim3): (TIM1, TIM3),
+        tim1: TIM1,
-        (max_v0, max_v1): (PC6<M1>, PC7<M2>),
+        tim3: TIM3,
-        (max_i_pos0, max_i_pos1): (PE9<M3>, PE11<M4>),
+        max_v0: PC6<M1>,
-        (max_i_neg0, max_i_neg1): (PE13<M5>, PE14<M6>),
+        max_v1: PC7<M2>,
+        max_i_pos0: PE9<M3>,
+        max_i_pos1: PE11<M4>,
+        max_i_neg0: PE13<M5>,
+        max_i_neg1: PE14<M6>,
     ) -> PwmPins {
         let freq = 20u32.khz();
 
@@ -369,7 +330,10 @@ impl PwmPins {
             pin.set_duty(0);
             pin.enable();
         }
-        let channels = (max_v0.into_alternate(), max_v1.into_alternate());
+        let channels = (
+            max_v0.into_alternate(),
+            max_v1.into_alternate(),
+        );
         //let (mut max_v0, mut max_v1) = pwm::tim3(tim3, channels, clocks, freq);
         let (mut max_v0, mut max_v1) = Timer::new(tim3, &clocks).pwm(channels, freq);
         init_pwm_pin(&mut max_v0);
@@ -389,12 +353,9 @@ impl PwmPins {
         init_pwm_pin(&mut max_i_neg1);
 
         PwmPins {
-            max_v0,
+            max_v0, max_v1,
-            max_v1,
+            max_i_pos0, max_i_pos1,
-            max_i_pos0,
+            max_i_neg0, max_i_neg1,
-            max_i_pos1,
-            max_i_neg0,
-            max_i_neg1,
         }
     }
 }

src/pwm_limits.rs

@@ -1,10 +1,10 @@
-use crate::channels::Channels;
+use serde::{Serialize, Deserialize};
-use serde::{Deserialize, Serialize};
 use uom::si::{
-    electric_current::ampere,
     electric_potential::volt,
+    electric_current::ampere,
     f64::{ElectricCurrent, ElectricPotential},
 };
+use crate::channels::Channels;
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
 pub struct PwmLimits {

src/server.rs

@@ -1,11 +1,11 @@
-use crate::command_parser::Ipv4Config;
-use crate::net::split_ipv4_config;
 use smoltcp::{
     iface::EthernetInterface,
-    socket::{SocketHandle, SocketRef, SocketSet, TcpSocket, TcpSocketBuffer},
+    socket::{SocketSet, SocketHandle, TcpSocket, TcpSocketBuffer, SocketRef},
     time::Instant,
     wire::{IpAddress, IpCidr, Ipv4Address, Ipv4Cidr},
 };
+use crate::command_parser::Ipv4Config;
+use crate::net::split_ipv4_config;
 
 pub struct SocketState<S> {
     handle: SocketHandle,
@@ -13,17 +13,13 @@ pub struct SocketState<S> {
 }
 
 impl<'a, S: Default> SocketState<S>{
-    fn new(
+    fn new(sockets: &mut SocketSet<'a>, tcp_rx_storage: &'a mut [u8; TCP_RX_BUFFER_SIZE], tcp_tx_storage: &'a mut [u8; TCP_TX_BUFFER_SIZE]) -> SocketState<S> {
-        sockets: &mut SocketSet<'a>,
-        tcp_rx_storage: &'a mut [u8; TCP_RX_BUFFER_SIZE],
-        tcp_tx_storage: &'a mut [u8; TCP_TX_BUFFER_SIZE],
-    ) -> SocketState<S> {
         let tcp_rx_buffer = TcpSocketBuffer::new(&mut tcp_rx_storage[..]);
         let tcp_tx_buffer = TcpSocketBuffer::new(&mut tcp_tx_storage[..]);
         let tcp_socket = TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
         SocketState::<S> {
             handle: sockets.add(tcp_socket),
-            state: S::default(),
+            state: S::default()
         }
     }
 }
@@ -54,7 +50,7 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
             ($rx_storage:ident, $tx_storage:ident) => {
                 let mut $rx_storage = [0; TCP_RX_BUFFER_SIZE];
                 let mut $tx_storage = [0; TCP_TX_BUFFER_SIZE];
-            };
+            }
         }
 
         create_rtx_storage!(tcp_rx_storage0, tcp_tx_storage0);
@@ -103,10 +99,15 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
     fn set_ipv4_address(&mut self, ipv4_address: Ipv4Cidr) {
         self.net.update_ip_addrs(|addrs| {
             for addr in addrs.iter_mut() {
-                if let IpCidr::Ipv4(_) = addr {
+                match addr {
+                    IpCidr::Ipv4(_) => {
                         *addr = IpCidr::Ipv4(ipv4_address);
                         // done
-                    break;
+                        break
+                    }
+                    _ => {
+                        // skip
+                    }
                 }
             }
         });
@@ -115,7 +116,8 @@ impl<'a, 'b, S: Default> Server<'a, 'b, S> {
     fn set_gateway(&mut self, gateway: Option<Ipv4Address>) {
         let routes = self.net.routes_mut();
         match gateway {
-            None => routes.update(|routes_storage| {
+            None =>
+                routes.update(|routes_storage| {
                     routes_storage.remove(&IpCidr::new(IpAddress::v4(0, 0, 0, 0), 0));
                 }),
             Some(gateway) => {

src/session.rs

@@ -45,8 +45,7 @@ pub enum SessionInput {
 
 impl From<Result<Command, ParserError>> for SessionInput {
     fn from(input: Result<Command, ParserError>) -> Self {
-        input
+        input.map(SessionInput::Command)
-            .map(SessionInput::Command)
             .unwrap_or_else(SessionInput::Error)
     }
 }
@@ -77,10 +76,13 @@ impl Session {
         for (i, b) in buf.iter().enumerate() {
             buf_bytes = i + 1;
             let line = self.reader.feed(*b);
-            if let Some(line) = line {
+            match line {
-                let command = Command::parse(line);
+                Some(line) => {
+                    let command = Command::parse(&line);
                     return (buf_bytes, command.into());
                 }
+                None => {}
+            }
         }
         (buf_bytes, SessionInput::Nothing)
     }

src/steinhart_hart.rs

@@ -1,11 +1,14 @@
 use num_traits::float::Float;
-use serde::{Deserialize, Serialize};
 use uom::si::{
+    f64::{
+        ElectricalResistance,
+        ThermodynamicTemperature,
+    },
     electrical_resistance::ohm,
-    f64::{ElectricalResistance, ThermodynamicTemperature},
     ratio::ratio,
     thermodynamic_temperature::{degree_celsius, kelvin},
 };
+use serde::{Deserialize, Serialize};
 
 /// Steinhart-Hart equation parameters
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]

src/timer.rs

@@ -4,9 +4,9 @@ use cortex_m::interrupt::Mutex;
 use cortex_m_rt::exception;
 use stm32f4xx_hal::{
     rcc::Clocks,
-    stm32::SYST,
     time::U32Ext,
-    timer::{Event as TimerEvent, Timer},
+    timer::{Timer, Event as TimerEvent},
+    stm32::SYST,
 };
 
 /// Rate in Hz
@@ -18,6 +18,7 @@ static TIMER_MS: Mutex<RefCell<u32>> = Mutex::new(RefCell::new(0));
 
 /// Setup SysTick exception
 pub fn setup(syst: SYST, clocks: Clocks) {
+    
     let timer = Timer::syst(syst, &clocks);
     let mut countdown = timer.start_count_down(TIMER_RATE.hz());
     countdown.listen(TimerEvent::TimeOut);
@@ -27,13 +28,18 @@ pub fn setup(syst: SYST, clocks: Clocks) {
 #[exception]
 fn SysTick() {
     cortex_m::interrupt::free(|cs| {
-        *TIMER_MS.borrow(cs).borrow_mut() += TIMER_DELTA;
+        *TIMER_MS.borrow(cs)
+            .borrow_mut() += TIMER_DELTA;
     });
 }
 
 /// Obtain current time in milliseconds
 pub fn now() -> u32 {
-    cortex_m::interrupt::free(|cs| *TIMER_MS.borrow(cs).borrow().deref())
+    cortex_m::interrupt::free(|cs| {
+        *TIMER_MS.borrow(cs)
+            .borrow()
+            .deref()
+    })
 }
 
 /// block for at least `amount` milliseconds

src/usb.rs

@@ -1,18 +1,15 @@
-use core::{
+use core::{fmt::{self, Write}, mem::MaybeUninit};
-    fmt::{self, Write},
-    mem::MaybeUninit,
-};
 use cortex_m::interrupt::free;
-use log::{Log, Metadata, Record};
 use stm32f4xx_hal::{
-    otg_fs::{UsbBus as Bus, USB},
+    otg_fs::{USB, UsbBus as Bus},
     stm32::{interrupt, Interrupt, NVIC},
 };
 use usb_device::{
-    class_prelude::UsbBusAllocator,
+    class_prelude::{UsbBusAllocator},
     prelude::{UsbDevice, UsbDeviceBuilder, UsbVidPid},
 };
 use usbd_serial::SerialPort;
+use log::{Record, Log, Metadata};
 
 static mut EP_MEMORY: [u32; 1024] = [0; 1024];
 
@@ -39,8 +36,8 @@ impl State {
             .device_class(usbd_serial::USB_CLASS_CDC)
             .build();
 
-        free(|_| unsafe {
+        free(|_| {
-            STATE = Some(State { serial, dev });
+            unsafe { STATE = Some(State { serial, dev }); }
         });
 
         unsafe {
@@ -97,7 +94,8 @@ impl Write for SerialOutput {
     fn write_str(&mut self, s: &str) -> core::result::Result<(), core::fmt::Error> {
         if let Some(ref mut state) = State::get() {
             for chunk in s.as_bytes().chunks(16) {
-                free(|_| state.serial.write(chunk)).map_err(|_| fmt::Error)?;
+                free(|_| state.serial.write(chunk))
+                    .map_err(|_| fmt::Error)?;
             }
         }
         Ok(())