TCP command: Rename pwm to output

Current limit pins are driven by PWM inputs to the MAX1968 driver, but
this is an implementation detail, and should not be exposed in the form
of the command interface. Rename "pwm" to "output" in all instances.

See M-Labs/thermostat#62 (comment).

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                                                            |
 | `output`                                  | Show current output settings                                                  |
 | `output <0/1> max_i_pos <amp>`            | Set maximum positive output current, clamped to [0, 2]                        |
 | `output <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 `output` command to see current settings and maximum values.
@@ -218,7 +218,7 @@ output 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 `output` 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::*;
 
@@ -9,7 +9,7 @@ pub trait Register {
     fn address(&self) -> u8;
 }
 
-pub trait RegisterData: Clone + Deref<Target = [u8]> + DerefMut {
+pub trait RegisterData: Clone + Deref<Target=[u8]> + DerefMut {
     fn empty() -> Self;
 }
 
@@ -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 {
@@ -148,7 +146,7 @@ def_reg!(Status, status, 0x00, 1);
 impl status::Data {
     /// Is there new data to read?
     pub fn ready(&self) -> bool {
-        !self.not_ready()
+        ! self.not_ready()
     }
 
     reg_bit!(not_ready, 0, 7, "No data ready indicator");
@@ -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 +1,25 @@
-use crate::{
-    ad7172,
-    command_parser::{CenterPoint, Polarity},
-    config::PwmLimits,
-    pid, steinhart_hart as sh,
-};
 use smoltcp::time::{Duration, Instant};
 use uom::si::{
-    electric_current::ampere,
-    electric_potential::volt,
-    electrical_resistance::ohm,
     f64::{
-        ElectricCurrent, ElectricPotential, ElectricalResistance, ThermodynamicTemperature, Time,
+        ElectricPotential,
+        ElectricCurrent,
+        ElectricalResistance,
+        ThermodynamicTemperature,
+        Time,
     },
+    electric_potential::volt,
+    electric_current::ampere,
+    electrical_resistance::ohm,
     thermodynamic_temperature::degree_celsius,
     time::millisecond,
 };
+use crate::{
+    ad7172,
+    pid,
+    config::PwmLimits,
+    steinhart_hart as sh,
+    command_parser::{CenterPoint, Polarity},
+};
 
 const R_INNER: f64 = 2.0 * 5100.0;
 const VREF_SENS: f64 = 3.3 / 2.0;
@@ -43,7 +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 {
@@ -71,7 +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()),
         }
     }
 
@@ -151,7 +146,7 @@ impl Channels {
 
     /// i_set DAC
     fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> ElectricPotential {
-        let value = ((voltage / DAC_OUT_V_MAX).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32;
+        let value = ((voltage / DAC_OUT_V_MAX).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32 ;
         match channel {
             0 => self.channel0.dac.set(value).unwrap(),
             1 => self.channel1.dac.set(value).unwrap(),
@@ -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,
@@ -388,34 +380,37 @@ 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 {
-        fn set<P: hal::PwmPin<Duty = u16>>(pin: &mut P, duty: f64) -> f64 {
+        fn set<P: hal::PwmPin<Duty=u16>>(pin: &mut P, duty: f64) -> f64 {
             let max = pin.get_max_duty();
             let value = ((duty * (max as f64)) as u16).min(max);
             pin.set_duty(value);
             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);
@@ -120,13 +137,13 @@ 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)
     }
 
-    fn show_post_filter(socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
+    fn show_post_filter (socket: &mut TcpSocket, channels: &mut Channels) -> Result<Handler, Error> {
         match channels.postfilter_summaries_json() {
             Ok(buf) => {
                 send_line(socket, &buf);
@@ -134,13 +151,13 @@ 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)
     }
 
-    fn show_ipv4(socket: &mut TcpSocket, ipv4_config: &mut Ipv4Config) -> Result<Handler, Error> {
+    fn show_ipv4 (socket: &mut TcpSocket, ipv4_config: &mut Ipv4Config) -> Result<Handler, Error> {
         let (cidr, gateway) = net::split_ipv4_config(ipv4_config.clone());
         let _ = write!(socket, "{{\"addr\":\"{}\"", cidr);
         gateway.map(|gateway| write!(socket, ",\"gateway\":\"{}\"", gateway));
@@ -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));
@@ -358,7 +320,7 @@ impl Handler {
         Ok(Handler::NewIPV4(new_ipv4_config.unwrap()))
     }
 
-    fn reset(channels: &mut Channels) -> Result<Handler, Error> {
+    fn reset (channels: &mut Channels) -> Result<Handler, Error> {
         for i in 0..CHANNELS {
             channels.power_down(i);
         }
@@ -366,7 +328,7 @@ impl Handler {
         Ok(Handler::Reset)
     }
 
-    fn dfu(channels: &mut Channels) -> Result<Handler, Error> {
+    fn dfu (channels: &mut Channels) -> Result<Handler, Error> {
         for i in 0..CHANNELS {
             channels.power_down(i);
         }
@@ -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)
@@ -457,71 +403,37 @@ 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::Output) => 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::OutputPid { channel } => Handler::engage_pid(socket, channels, channel),
-            Command::OutputPolarity { channel, polarity } => {
+            Command::OutputPolarity { channel, polarity } => Handler::set_polarity(socket, channels, channel, polarity),
-                Handler::set_polarity(socket, channels, channel, polarity)
+            Command::Output { channel, pin, value } => Handler::set_pwm(socket, channels, channel, pin, value),
-            }
+            Command::CenterPoint { channel, center } => Handler::set_center_point(socket, channels, channel, center),
-            Command::Output {
+            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),
             Command::Reset => Handler::reset(channels),
             Command::Dfu => Handler::dfu(channels),
-            Command::FanSet { fan_pwm } => Handler::set_fan(socket, fan_pwm, fan_ctrl),
+            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)
 }
 
 /// `output <0-1> pid` - Set output to be controlled by PID
@@ -270,11 +312,10 @@ fn output_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 output(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::Output { channel, pin, value }))),
-                            Ok(Command::Output {
+                        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::Output)), end),
+        value(Ok(Command::Show(ShowCommand::Output)), 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_output_i_set() {
         let command = Command::parse(b"output 1 i_set 16383");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Output {
-            command,
-            Ok(Command::Output {
             channel: 1,
             pin: PwmPin::ISet,
             value: 16383.0,
-            })
+        }));
-        );
     }
 
     #[test]
     fn parse_output_polarity() {
         let command = Command::parse(b"pwm 0 polarity reversed");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::OutputPolarity {
-            command,
-            Ok(Command::OutputPolarity {
             channel: 0,
             polarity: Polarity::Reversed,
-            })
+        }));
-        );
     }
 
     #[test]
     fn parse_output_pid() {
         let command = Command::parse(b"output 0 pid");
-        assert_eq!(command, Ok(Command::OutputPid { channel: 0 }));
+        assert_eq!(command, Ok(Command::OutputPid {
+            channel: 0,
+        }));
     }
 
     #[test]
     fn parse_output_max_i_pos() {
         let command = Command::parse(b"output 0 max_i_pos 7");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Output {
-            command,
-            Ok(Command::Output {
             channel: 0,
             pin: PwmPin::MaxIPos,
             value: 7.0,
-            })
+        }));
-        );
     }
 
     #[test]
     fn parse_output_max_i_neg() {
         let command = Command::parse(b"output 0 max_i_neg 128");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Output {
-            command,
-            Ok(Command::Output {
             channel: 0,
             pin: PwmPin::MaxINeg,
             value: 128.0,
-            })
+        }));
-        );
     }
 
     #[test]
     fn parse_output_max_v() {
         let command = Command::parse(b"output 0 max_v 32768");
-        assert_eq!(
+        assert_eq!(command, Ok(Command::Output {
-            command,
-            Ok(Command::Output {
             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]
@@ -834,7 +824,7 @@ mod test {
     #[test]
     fn parse_fan_set() {
         let command = Command::parse(b"fan 42");
-        assert_eq!(command, Ok(Command::FanSet { fan_pwm: 42 }));
+        assert_eq!(command, Ok(Command::FanSet {fan_pwm: 42}));
     }
 
     #[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

@@ -1,15 +1,16 @@
+use num_traits::Zero;
+use serde::{Serialize, Deserialize};
+use uom::si::{
+    electric_potential::volt,
+    electric_current::ampere,
+    f64::{ElectricCurrent, ElectricPotential},
+};
 use crate::{
     ad7172::PostFilter,
     channels::Channels,
     command_parser::{CenterPoint, Polarity},
-    pid, steinhart_hart,
+    pid,
-};
+    steinhart_hart,
-use num_traits::Zero;
-use serde::{Deserialize, Serialize};
-use uom::si::{
-    electric_current::ampere,
-    electric_potential::volt,
-    f64::{ElectricCurrent, ElectricPotential},
 };
 
 #[derive(Clone, Debug, PartialEq, Serialize, Deserialize)]
@@ -30,9 +31,7 @@ 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/dfu.rs

@@ -27,7 +27,7 @@ unsafe fn __pre_init() {
         rcc.apb2enr.modify(|_, w| w.syscfgen().set_bit());
 
         // Bypass BOOT pins and remap bootloader to 0x00000000
-        let syscfg = &*SYSCFG::ptr();
+        let syscfg = &*SYSCFG::ptr() ;
         syscfg.memrm.write(|w| w.mem_mode().bits(0b01));  
 
         // Impose instruction and memory barriers

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;
@@ -35,18 +39,18 @@ mod session;
 use session::{Session, SessionInput};
 mod command_parser;
 use command_parser::Ipv4Config;
-mod channels;
+mod timer;
 mod pid;
 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;
@@ -69,19 +73,19 @@ 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
@@ -100,9 +104,7 @@ 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())
@@ -118,15 +120,14 @@ 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();
@@ -138,11 +139,14 @@ 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),
         }
     }
 
@@ -155,9 +159,11 @@ 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
@@ -166,14 +172,7 @@ 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;
@@ -193,14 +192,15 @@ 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);
                     });
 
-                    if !should_reset {
+                if ! should_reset {
                     // TCP protocol handling
                     server.for_each(|mut socket, session| {
-                            if !socket.is_active() {
+                        if ! socket.is_active() {
                             let _ = socket.listen(TCP_PORT);
                             session.reset();
                         } else if socket.may_send() && !socket.may_recv() {
@@ -213,27 +213,20 @@ 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(),
                             }
                         }
                     });
@@ -254,10 +247,11 @@ 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();
@@ -273,8 +267,7 @@ 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 {
@@ -29,22 +29,22 @@ impl Default for Parameters {
 #[derive(Clone)]
 pub struct Controller {
     pub parameters: Parameters,
-    pub target: f64,
+    pub target : f64,
-    u1: f64,
+    u1 : f64,
-    x1: f64,
+    x1 : f64,
-    x2: f64,
+    x2 : f64,
-    pub y1: f64,
+    pub y1 : f64,
 }
 
 impl Controller {
     pub const fn new(parameters: Parameters) -> Controller {
         Controller {
-            parameters,
+            parameters: parameters,
-            target: 0.0,
+            target : 0.0,
-            u1: 0.0,
+            u1 : 0.0,
-            x1: 0.0,
+            x1 : 0.0,
-            x2: 0.0,
+            x2 : 0.0,
-            y1: 0.0,
+            y1 : 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<
@@ -46,7 +54,7 @@ pub type EthernetPins = EthPins<
     PB13<Input<Floating>>,
     PC4<Input<Floating>>,
     PC5<Input<Floating>>,
->;
+ >;
 
 pub trait ChannelPins {
     type DacSpi: Transfer<u8>;
@@ -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();
 
@@ -358,18 +315,25 @@ 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();
 
-        fn init_pwm_pin<P: hal::PwmPin<Duty = u16>>(pin: &mut P) {
+        fn init_pwm_pin<P: hal::PwmPin<Duty=u16>>(pin: &mut P) {
             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/server.rs

@@ -1,29 +1,25 @@
-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,
     state: S,
 }
 
-impl<'a, S: Default> 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(())