forked from M-Labs/thermostat
topquark12
f6802635a4
Co-Authored-By: topquark12 <aw@m-labs.hk> Co-Committed-By: topquark12 <aw@m-labs.hk>
486 lines
22 KiB
Rust
486 lines
22 KiB
Rust
#![cfg_attr(not(test), no_std)]
|
|
#![cfg_attr(not(test), no_main)]
|
|
#![feature(maybe_uninit_extra, maybe_uninit_ref, asm)]
|
|
#![cfg_attr(test, allow(unused))]
|
|
// TODO: #![deny(warnings, unused)]
|
|
|
|
#[cfg(not(any(feature = "semihosting", test)))]
|
|
use panic_abort as _;
|
|
#[cfg(all(feature = "semihosting", not(test)))]
|
|
use panic_semihosting as _;
|
|
|
|
use log::{error, info, warn};
|
|
|
|
use core::fmt::Write;
|
|
use cortex_m::asm::wfi;
|
|
use cortex_m_rt::entry;
|
|
use stm32f4xx_hal::{
|
|
hal::watchdog::{WatchdogEnable, Watchdog},
|
|
rcc::RccExt,
|
|
stm32::{CorePeripherals, Peripherals, SCB},
|
|
time::{U32Ext, MegaHertz},
|
|
watchdog::IndependentWatchdog,
|
|
};
|
|
use smoltcp::{
|
|
time::Instant,
|
|
socket::TcpSocket,
|
|
wire::EthernetAddress,
|
|
};
|
|
use uom::{
|
|
si::{
|
|
f64::{
|
|
ElectricCurrent,
|
|
ElectricPotential,
|
|
ElectricalResistance,
|
|
ThermodynamicTemperature,
|
|
},
|
|
electric_current::ampere,
|
|
electric_potential::volt,
|
|
electrical_resistance::ohm,
|
|
thermodynamic_temperature::degree_celsius,
|
|
},
|
|
};
|
|
|
|
mod init_log;
|
|
use init_log::init_log;
|
|
mod usb;
|
|
mod leds;
|
|
mod pins;
|
|
use pins::Pins;
|
|
mod ad7172;
|
|
mod ad5680;
|
|
mod net;
|
|
mod server;
|
|
use server::Server;
|
|
mod session;
|
|
use session::{Session, SessionInput};
|
|
mod command_parser;
|
|
use command_parser::{Command, Ipv4Config, PwmPin, ShowCommand};
|
|
mod timer;
|
|
mod pid;
|
|
mod steinhart_hart;
|
|
mod channels;
|
|
use channels::{CHANNELS, Channels};
|
|
mod channel;
|
|
mod channel_state;
|
|
mod config;
|
|
use config::ChannelConfig;
|
|
mod flash_store;
|
|
mod dfu;
|
|
|
|
const HSE: MegaHertz = MegaHertz(8);
|
|
#[cfg(not(feature = "semihosting"))]
|
|
const WATCHDOG_INTERVAL: u32 = 1_000;
|
|
#[cfg(feature = "semihosting")]
|
|
const WATCHDOG_INTERVAL: u32 = 30_000;
|
|
|
|
const CHANNEL_CONFIG_KEY: [&str; 2] = ["ch0", "ch1"];
|
|
|
|
const TCP_PORT: u16 = 23;
|
|
|
|
fn send_line(socket: &mut TcpSocket, data: &[u8]) -> bool {
|
|
let send_free = socket.send_capacity() - socket.send_queue();
|
|
if data.len() > send_free + 1 {
|
|
// Not enough buffer space, skip report for now,
|
|
// instead of sending incomplete line
|
|
warn!(
|
|
"TCP socket has only {}/{} needed {}",
|
|
send_free + 1, socket.send_capacity(), data.len(),
|
|
);
|
|
} else {
|
|
match socket.send_slice(&data) {
|
|
Ok(sent) if sent == data.len() => {
|
|
let _ = socket.send_slice(b"\n");
|
|
// success
|
|
return true
|
|
}
|
|
Ok(sent) =>
|
|
warn!("sent only {}/{} bytes", sent, data.len()),
|
|
Err(e) =>
|
|
error!("error sending line: {:?}", e),
|
|
}
|
|
}
|
|
// not success
|
|
false
|
|
}
|
|
|
|
/// Initialization and main loop
|
|
#[cfg(not(test))]
|
|
#[entry]
|
|
fn main() -> ! {
|
|
init_log();
|
|
info!("thermostat");
|
|
|
|
let mut cp = CorePeripherals::take().unwrap();
|
|
cp.SCB.enable_icache();
|
|
cp.SCB.enable_dcache(&mut cp.CPUID);
|
|
|
|
let dp = Peripherals::take().unwrap();
|
|
let clocks = dp.RCC.constrain()
|
|
.cfgr
|
|
.use_hse(HSE)
|
|
.sysclk(168.mhz())
|
|
.hclk(168.mhz())
|
|
.pclk1(32.mhz())
|
|
.pclk2(64.mhz())
|
|
.freeze();
|
|
|
|
let mut wd = IndependentWatchdog::new(dp.IWDG);
|
|
wd.start(WATCHDOG_INTERVAL.ms());
|
|
wd.feed();
|
|
|
|
timer::setup(cp.SYST, clocks);
|
|
|
|
let (pins, mut leds, mut eeprom, eth_pins, usb) = Pins::setup(
|
|
clocks, dp.TIM1, dp.TIM3,
|
|
dp.GPIOA, dp.GPIOB, dp.GPIOC, dp.GPIOD, dp.GPIOE, dp.GPIOF, dp.GPIOG,
|
|
dp.I2C1,
|
|
dp.SPI2, dp.SPI4, dp.SPI5,
|
|
dp.ADC1,
|
|
dp.OTG_FS_GLOBAL,
|
|
dp.OTG_FS_DEVICE,
|
|
dp.OTG_FS_PWRCLK,
|
|
);
|
|
|
|
leds.r1.on();
|
|
leds.g3.off();
|
|
leds.g4.off();
|
|
|
|
usb::State::setup(usb);
|
|
|
|
let mut store = flash_store::store(dp.FLASH);
|
|
let mut store_value_buf = [0u8; 256];
|
|
|
|
let mut channels = Channels::new(pins);
|
|
for c in 0..CHANNELS {
|
|
match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
|
|
Ok(Some(config)) =>
|
|
config.apply(&mut channels, c),
|
|
Ok(None) =>
|
|
error!("flash config not found for channel {}", c),
|
|
Err(e) =>
|
|
error!("unable to load config {} from flash: {:?}", c, e),
|
|
}
|
|
}
|
|
|
|
// default net config:
|
|
let mut ipv4_config = Ipv4Config {
|
|
address: [192, 168, 1, 26],
|
|
mask_len: 24,
|
|
gateway: None,
|
|
};
|
|
match store.read_value("ipv4") {
|
|
Ok(Some(config)) =>
|
|
ipv4_config = config,
|
|
Ok(None) => {}
|
|
Err(e) =>
|
|
error!("cannot read ipv4 config: {:?}", e),
|
|
}
|
|
|
|
// EEPROM ships with a read-only EUI-48 identifier
|
|
let mut eui48 = [0; 6];
|
|
eeprom.read_data(0xFA, &mut eui48).unwrap();
|
|
let hwaddr = EthernetAddress(eui48);
|
|
info!("EEPROM MAC address: {}", hwaddr);
|
|
|
|
net::run(clocks, dp.ETHERNET_MAC, dp.ETHERNET_DMA, eth_pins, hwaddr, ipv4_config.clone(), |iface| {
|
|
Server::<Session>::run(iface, |server| {
|
|
leds.r1.off();
|
|
|
|
loop {
|
|
let mut new_ipv4_config = None;
|
|
let instant = Instant::from_millis(i64::from(timer::now()));
|
|
let updated_channel = channels.poll_adc(instant);
|
|
if let Some(channel) = updated_channel {
|
|
server.for_each(|_, session| session.set_report_pending(channel.into()));
|
|
}
|
|
|
|
let instant = Instant::from_millis(i64::from(timer::now()));
|
|
cortex_m::interrupt::free(net::clear_pending);
|
|
server.poll(instant)
|
|
.unwrap_or_else(|e| {
|
|
warn!("poll: {:?}", e);
|
|
});
|
|
|
|
// TCP protocol handling
|
|
server.for_each(|mut socket, session| {
|
|
if ! socket.is_active() {
|
|
let _ = socket.listen(TCP_PORT);
|
|
session.reset();
|
|
} else if socket.may_send() && !socket.may_recv() {
|
|
socket.close()
|
|
} else if socket.can_send() && socket.can_recv() {
|
|
match socket.recv(|buf| session.feed(buf)) {
|
|
Ok(SessionInput::Nothing) => {
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
Ok(SessionInput::Command(command)) => match command {
|
|
Command::Quit =>
|
|
socket.close(),
|
|
Command::Reporting(_reporting) => {
|
|
// handled by session
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
Command::Show(ShowCommand::Reporting) => {
|
|
let _ = writeln!(socket, "{{ \"report\": {:?} }}", session.reporting());
|
|
}
|
|
Command::Show(ShowCommand::Input) => {
|
|
match channels.reports_json() {
|
|
Ok(buf) => {
|
|
send_line(&mut socket, &buf[..]);
|
|
}
|
|
Err(e) => {
|
|
error!("unable to serialize report: {:?}", e);
|
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
|
|
|
}
|
|
}
|
|
}
|
|
Command::Show(ShowCommand::Pid) => {
|
|
match channels.pid_summaries_json() {
|
|
Ok(buf) => {
|
|
send_line(&mut socket, &buf);
|
|
}
|
|
Err(e) => {
|
|
error!("unable to serialize pid summary: {:?}", e);
|
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
|
}
|
|
}
|
|
}
|
|
Command::Show(ShowCommand::Pwm) => {
|
|
match channels.pwm_summaries_json() {
|
|
Ok(buf) => {
|
|
send_line(&mut socket, &buf);
|
|
}
|
|
Err(e) => {
|
|
error!("unable to serialize pwm summary: {:?}", e);
|
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
|
}
|
|
}
|
|
}
|
|
Command::Show(ShowCommand::SteinhartHart) => {
|
|
match channels.steinhart_hart_summaries_json() {
|
|
Ok(buf) => {
|
|
send_line(&mut socket, &buf);
|
|
}
|
|
Err(e) => {
|
|
error!("unable to serialize steinhart-hart summaries: {:?}", e);
|
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
|
}
|
|
}
|
|
}
|
|
Command::Show(ShowCommand::PostFilter) => {
|
|
match channels.postfilter_summaries_json() {
|
|
Ok(buf) => {
|
|
send_line(&mut socket, &buf);
|
|
}
|
|
Err(e) => {
|
|
error!("unable to serialize postfilter summary: {:?}", e);
|
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
|
}
|
|
}
|
|
}
|
|
Command::Show(ShowCommand::Ipv4) => {
|
|
let (cidr, gateway) = net::split_ipv4_config(ipv4_config.clone());
|
|
let _ = write!(socket, "{{\"addr\":\"{}\"", cidr);
|
|
gateway.map(|gateway| write!(socket, ",\"gateway\":\"{}\"", gateway));
|
|
let _ = writeln!(socket, "}}");
|
|
}
|
|
Command::PwmPid { channel } => {
|
|
channels.channel_state(channel).pid_engaged = true;
|
|
leds.g3.on();
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
Command::Pwm { channel, pin, value } => {
|
|
match pin {
|
|
PwmPin::ISet => {
|
|
channels.channel_state(channel).pid_engaged = false;
|
|
leds.g3.off();
|
|
let current = ElectricCurrent::new::<ampere>(value);
|
|
channels.set_i(channel, current);
|
|
channels.power_up(channel);
|
|
}
|
|
PwmPin::MaxV => {
|
|
let voltage = ElectricPotential::new::<volt>(value);
|
|
channels.set_max_v(channel, voltage);
|
|
}
|
|
PwmPin::MaxIPos => {
|
|
let current = ElectricCurrent::new::<ampere>(value);
|
|
channels.set_max_i_pos(channel, current);
|
|
}
|
|
PwmPin::MaxINeg => {
|
|
let current = ElectricCurrent::new::<ampere>(value);
|
|
channels.set_max_i_neg(channel, current);
|
|
}
|
|
}
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
Command::CenterPoint { channel, center } => {
|
|
let (i_tec, _) = channels.get_i(channel);
|
|
let state = channels.channel_state(channel);
|
|
state.center = center;
|
|
if !state.pid_engaged {
|
|
channels.set_i(channel, i_tec);
|
|
}
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
Command::Pid { channel, parameter, value } => {
|
|
let pid = &mut channels.channel_state(channel).pid;
|
|
use command_parser::PidParameter::*;
|
|
match parameter {
|
|
Target =>
|
|
pid.target = value,
|
|
KP =>
|
|
pid.parameters.kp = value as f32,
|
|
KI =>
|
|
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,
|
|
IntegralMin =>
|
|
pid.parameters.integral_min = value as f32,
|
|
IntegralMax =>
|
|
pid.parameters.integral_max = value as f32,
|
|
}
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
Command::SteinhartHart { channel, parameter, value } => {
|
|
let sh = &mut channels.channel_state(channel).sh;
|
|
use command_parser::ShParameter::*;
|
|
match parameter {
|
|
T0 => sh.t0 = ThermodynamicTemperature::new::<degree_celsius>(value),
|
|
B => sh.b = value,
|
|
R0 => sh.r0 = ElectricalResistance::new::<ohm>(value),
|
|
}
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
Command::PostFilter { channel, rate: None } => {
|
|
channels.adc.set_postfilter(channel as u8, None).unwrap();
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
Command::PostFilter { channel, rate: Some(rate) } => {
|
|
let filter = ad7172::PostFilter::closest(rate);
|
|
match filter {
|
|
Some(filter) => {
|
|
channels.adc.set_postfilter(channel as u8, Some(filter)).unwrap();
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
None => {
|
|
error!("unable to choose postfilter for rate {:.3}", rate);
|
|
send_line(&mut socket, b"{{\"error\": \"unable to choose postfilter rate\"}}");
|
|
}
|
|
}
|
|
}
|
|
Command::Load { channel } => {
|
|
for c in 0..CHANNELS {
|
|
if channel.is_none() || channel == Some(c) {
|
|
match store.read_value::<ChannelConfig>(CHANNEL_CONFIG_KEY[c]) {
|
|
Ok(Some(config)) => {
|
|
config.apply(&mut channels, c);
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
Ok(None) => {
|
|
error!("flash config not found");
|
|
send_line(&mut socket, b"{{\"error\": \"flash config not found\"}}");
|
|
}
|
|
Err(e) => {
|
|
error!("unable to load config from flash: {:?}", e);
|
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
Command::Save { channel } => {
|
|
for c in 0..CHANNELS {
|
|
if channel.is_none() || channel == Some(c) {
|
|
let config = ChannelConfig::new(&mut channels, c);
|
|
match store.write_value(CHANNEL_CONFIG_KEY[c], &config, &mut store_value_buf) {
|
|
Ok(()) => {
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
Err(e) => {
|
|
error!("unable to save channel {} config to flash: {:?}", c, e);
|
|
let _ = writeln!(socket, "{{\"error\":\"{:?}\"}}", e);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
Command::Ipv4(config) => {
|
|
let _ = store
|
|
.write_value("ipv4", &config, [0; 16])
|
|
.map_err(|e| error!("unable to save ipv4 config to flash: {:?}", e));
|
|
new_ipv4_config = Some(config);
|
|
send_line(&mut socket, b"{}");
|
|
}
|
|
Command::Reset => {
|
|
for i in 0..CHANNELS {
|
|
channels.power_down(i);
|
|
}
|
|
|
|
SCB::sys_reset();
|
|
}
|
|
Command::Dfu => {
|
|
for i in 0..CHANNELS {
|
|
channels.power_down(i);
|
|
}
|
|
unsafe {
|
|
dfu::set_dfu_trigger();
|
|
}
|
|
|
|
SCB::sys_reset();
|
|
}
|
|
}
|
|
Ok(SessionInput::Error(e)) => {
|
|
error!("session input: {:?}", e);
|
|
send_line(&mut socket, b"{ \"error\": \"invalid input\" }");
|
|
}
|
|
Err(_) =>
|
|
socket.close(),
|
|
}
|
|
} else if socket.can_send() {
|
|
if let Some(channel) = session.is_report_pending() {
|
|
match channels.reports_json() {
|
|
Ok(buf) => {
|
|
send_line(&mut socket, &buf[..]);
|
|
session.mark_report_sent(channel);
|
|
}
|
|
Err(e) => {
|
|
error!("unable to serialize report: {:?}", e);
|
|
|
|
}
|
|
}
|
|
}
|
|
}
|
|
});
|
|
|
|
// Apply new IPv4 address/gateway
|
|
new_ipv4_config.take()
|
|
.map(|config| {
|
|
server.set_ipv4_config(config.clone());
|
|
ipv4_config = config;
|
|
});
|
|
|
|
// Update watchdog
|
|
wd.feed();
|
|
|
|
leds.g4.off();
|
|
cortex_m::interrupt::free(|cs| {
|
|
if !net::is_pending(cs) {
|
|
// Wait for interrupts
|
|
// (Ethernet, SysTick, or USB)
|
|
wfi();
|
|
}
|
|
});
|
|
leds.g4.on();
|
|
}
|
|
});
|
|
});
|
|
|
|
unreachable!()
|
|
}
|