tec: init freq pins for 1 MHz switching

Run with: cargo test --target=x86_64-unknown-linux-gnu

default.nix

@@ -1,5 +1,6 @@
 { # Use master branch of the overlay by default
   mozillaOverlay ? import (builtins.fetchTarball https://github.com/mozilla/nixpkgs-mozilla/archive/master.tar.gz),
+  rustManifest ? ./channel-rust-nightly.toml,
 }:
 
 let
@@ -7,21 +8,55 @@ let
 in
 with pkgs;
 let
-  rustcSrc = fetchgit {
+  rustcSrc = pkgs.fetchgit {
     url = https://github.com/rust-lang/rust.git;
-    # master of 2019-08-31
+    # master of 2019-11-09
-    rev = "b3146549abf25818fecfc7555f35358a948e27ad";
+    rev = "ac162c6abe34cdf965afc0389f6cefa79653c63b";
-    sha256 = "1db3g1iq6ba5pdasffay1bpywdibv83z5nwp2dzi0fxvz5bqx1gi";
+    sha256 = "06c5gws1mrpr69z1gzs358zf7hcsg6ky8n4ha0vv2s9d9w93x1kj";
     fetchSubmodules = true;
   };
-  targets = [
+  target = "thumbv7em-none-eabihf";
-  ];
+  targets = [ target ];
+  rustChannelOfTargets = _channel: _date: targets:
+    (pkgs.lib.rustLib.fromManifestFile rustManifest {
+      inherit (pkgs) stdenv fetchurl patchelf;
+    }).rust.override { inherit targets; };
   rust =
     rustChannelOfTargets "nightly" null targets;
   rustPlatform = recurseIntoAttrs (makeRustPlatform {
     rustc = rust // { src = rustcSrc; };
     cargo = rust;
   });
+  gcc = pkgsCross.armv7l-hf-multiplatform.buildPackages.gcc;
+  xbuildRustPackage = attrs:
+    let
+      buildPkg = rustPlatform.buildRustPackage attrs;
+    in
+    buildPkg.overrideAttrs ({ name, nativeBuildInputs, ... }: {
+      nativeBuildInputs =
+        nativeBuildInputs ++ [ cargo-xbuild ];
+      buildPhase = ''
+        cargo xbuild --release --frozen
+      '';
+      XARGO_RUST_SRC = "${rustcSrc}/src";
+      installPhase = ''
+        mkdir $out
+        cp target/${target}/release/${name} $out/${name}.elf
+      '';
+    });
+  firmware = xbuildRustPackage {
+    name = "firmware";
+    src = ./firmware;
+    cargoSha256 = "0lf8h5g8sas36cxzqy0p65qqivnihh4gn4mkc1k210xp7niaymc5";
+    nativeBuildInputs = [
+      gcc
+    ];
+    "CC_${target}" = "${gcc}/bin/armv7l-unknown-linux-gnueabihf-gcc";
+    RUST_COMPILER_RT_ROOT = "${rustcSrc}/src/llvm-project/compiler-rt";
+    checkPhase = ''
+      cargo test --target=${hostPlatform.config}
+    '';
+  };
 in {
-  inherit pkgs rustPlatform rustcSrc;
+  inherit pkgs rustPlatform rustcSrc gcc firmware;
 }

firmware/Cargo.lock

@@ -1,10 +1,5 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-[[package]]
-name = "aligned"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-
 [[package]]
 name = "aligned"
 version = "0.3.1"
@@ -13,15 +8,6 @@ dependencies = [
  "as-slice 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
-[[package]]
-name = "alloc-cortex-m"
-version = "0.3.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-dependencies = [
- "cortex-m 0.1.8 (registry+https://github.com/rust-lang/crates.io-index)",
- "linked_list_allocator 0.6.4 (registry+https://github.com/rust-lang/crates.io-index)",
-]
-
 [[package]]
 name = "as-slice"
 version = "0.1.0"
@@ -46,7 +32,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
 name = "bitflags"
-version = "1.1.0"
+version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
@@ -60,22 +46,21 @@ version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
-name = "cortex-m"
+name = "cc"
-version = "0.1.8"
+version = "1.0.47"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-dependencies = [
- "volatile-register 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
-]
 
 [[package]]
-name = "cortex-m"
+name = "cfg-if"
-version = "0.5.10"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "compiler_builtins"
+version = "0.1.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
- "aligned 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cc 1.0.47 (registry+https://github.com/rust-lang/crates.io-index)",
- "bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
- "cortex-m 0.6.1 (registry+https://github.com/rust-lang/crates.io-index)",
- "volatile-register 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
@@ -93,19 +78,19 @@ name = "cortex-m-rt"
 version = "0.6.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
- "cortex-m-rt-macros 0.1.5 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m-rt-macros 0.1.6 (registry+https://github.com/rust-lang/crates.io-index)",
  "r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
 name = "cortex-m-rt-macros"
-version = "0.1.5"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
- "proc-macro2 0.4.30 (registry+https://github.com/rust-lang/crates.io-index)",
+ "proc-macro2 1.0.6 (registry+https://github.com/rust-lang/crates.io-index)",
- "quote 0.6.13 (registry+https://github.com/rust-lang/crates.io-index)",
+ "quote 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)",
  "rand 0.5.6 (registry+https://github.com/rust-lang/crates.io-index)",
- "syn 0.15.44 (registry+https://github.com/rust-lang/crates.io-index)",
+ "syn 1.0.8 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
@@ -133,6 +118,28 @@ dependencies = [
  "void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "firmware"
+version = "1.0.0"
+dependencies = [
+ "bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
+ "bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "byteorder 1.3.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "compiler_builtins 0.1.21 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m 0.6.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m-rt 0.6.10 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m-semihosting 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)",
+ "crc 1.8.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "embedded-hal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "lexical-core 0.6.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libm 0.1.4 (registry+https://github.com/rust-lang/crates.io-index)",
+ "nb 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "nom 5.0.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "smoltcp 0.5.0 (git+https://github.com/m-labs/smoltcp.git?rev=8eb01aca364aefe5f823d68d552d62c76c9be4a3)",
+ "tm4c129x 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "walkdir 2.2.9 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
 [[package]]
 name = "generic-array"
 version = "0.12.3"
@@ -142,33 +149,13 @@ dependencies = [
 ]
 
 [[package]]
-name = "ionpak-firmware"
+name = "lexical-core"
-version = "1.0.0"
+version = "0.6.2"
-dependencies = [
- "alloc-cortex-m 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)",
- "bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
- "bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)",
- "byteorder 1.3.2 (registry+https://github.com/rust-lang/crates.io-index)",
- "cortex-m 0.5.10 (registry+https://github.com/rust-lang/crates.io-index)",
- "cortex-m-rt 0.6.10 (registry+https://github.com/rust-lang/crates.io-index)",
- "cortex-m-semihosting 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)",
- "crc 1.8.1 (registry+https://github.com/rust-lang/crates.io-index)",
- "embedded-hal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
- "libm 0.1.4 (registry+https://github.com/rust-lang/crates.io-index)",
- "logos 0.9.7 (registry+https://github.com/rust-lang/crates.io-index)",
- "nb 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
- "smoltcp 0.4.0 (git+https://github.com/m-labs/smoltcp?rev=cd893e6)",
- "tm4c129x 0.8.0 (registry+https://github.com/rust-lang/crates.io-index)",
- "walkdir 1.0.7 (registry+https://github.com/rust-lang/crates.io-index)",
-]
-
-[[package]]
-name = "kernel32-sys"
-version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
- "winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cfg-if 0.1.10 (registry+https://github.com/rust-lang/crates.io-index)",
- "winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "rustc_version 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "static_assertions 0.3.4 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
@@ -176,34 +163,14 @@ name = "libm"
 version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
-[[package]]
-name = "linked_list_allocator"
-version = "0.6.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-
-[[package]]
-name = "logos"
-version = "0.9.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-dependencies = [
- "logos-derive 0.9.7 (registry+https://github.com/rust-lang/crates.io-index)",
-]
-
-[[package]]
-name = "logos-derive"
-version = "0.9.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-dependencies = [
- "proc-macro2 0.4.30 (registry+https://github.com/rust-lang/crates.io-index)",
- "quote 0.6.13 (registry+https://github.com/rust-lang/crates.io-index)",
- "regex-syntax 0.6.12 (registry+https://github.com/rust-lang/crates.io-index)",
- "syn 0.15.44 (registry+https://github.com/rust-lang/crates.io-index)",
- "utf8-ranges 1.0.4 (registry+https://github.com/rust-lang/crates.io-index)",
-]
-
 [[package]]
 name = "managed"
-version = "0.5.1"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "memchr"
+version = "2.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
@@ -212,19 +179,28 @@ version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
-name = "proc-macro2"
+name = "nom"
-version = "0.4.30"
+version = "5.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
- "unicode-xid 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "memchr 2.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "version_check 0.1.5 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "proc-macro2"
+version = "1.0.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "unicode-xid 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
 name = "quote"
-version = "0.6.13"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
- "proc-macro2 0.4.30 (registry+https://github.com/rust-lang/crates.io-index)",
+ "proc-macro2 1.0.6 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
@@ -253,11 +229,6 @@ name = "rand_core"
 version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
-[[package]]
-name = "regex-syntax"
-version = "0.6.12"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-
 [[package]]
 name = "rustc_version"
 version = "0.2.3"
@@ -268,11 +239,10 @@ dependencies = [
 
 [[package]]
 name = "same-file"
-version = "0.1.3"
+version = "1.0.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
- "kernel32-sys 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "winapi-util 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
- "winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
@@ -290,12 +260,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
 name = "smoltcp"
-version = "0.4.0"
+version = "0.5.0"
-source = "git+https://github.com/m-labs/smoltcp?rev=cd893e6#cd893e6ab60f094d684b37be7bc013bf79f0459d"
+source = "git+https://github.com/m-labs/smoltcp.git?rev=8eb01aca364aefe5f823d68d552d62c76c9be4a3#8eb01aca364aefe5f823d68d552d62c76c9be4a3"
 dependencies = [
- "bitflags 1.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "bitflags 1.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
  "byteorder 1.3.2 (registry+https://github.com/rust-lang/crates.io-index)",
- "managed 0.5.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "managed 0.7.1 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
@@ -303,23 +273,28 @@ name = "stable_deref_trait"
 version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
+[[package]]
+name = "static_assertions"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
 [[package]]
 name = "syn"
-version = "0.15.44"
+version = "1.0.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
- "proc-macro2 0.4.30 (registry+https://github.com/rust-lang/crates.io-index)",
+ "proc-macro2 1.0.6 (registry+https://github.com/rust-lang/crates.io-index)",
- "quote 0.6.13 (registry+https://github.com/rust-lang/crates.io-index)",
+ "quote 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)",
- "unicode-xid 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "unicode-xid 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
 name = "tm4c129x"
-version = "0.8.0"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
  "bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
- "cortex-m 0.5.10 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cortex-m 0.6.1 (registry+https://github.com/rust-lang/crates.io-index)",
  "cortex-m-rt 0.6.10 (registry+https://github.com/rust-lang/crates.io-index)",
  "vcell 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
@@ -331,12 +306,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
 name = "unicode-xid"
-version = "0.1.0"
+version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-
-[[package]]
-name = "utf8-ranges"
-version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
@@ -345,13 +315,13 @@ version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
-name = "void"
+name = "version_check"
-version = "1.0.2"
+version = "0.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
-name = "volatile-register"
+name = "void"
-version = "0.1.2"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
@@ -364,72 +334,88 @@ dependencies = [
 
 [[package]]
 name = "walkdir"
-version = "1.0.7"
+version = "2.2.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
- "kernel32-sys 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "same-file 1.0.5 (registry+https://github.com/rust-lang/crates.io-index)",
- "same-file 0.1.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "winapi 0.3.8 (registry+https://github.com/rust-lang/crates.io-index)",
- "winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "winapi-util 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
 name = "winapi"
-version = "0.2.8"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "winapi-i686-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "winapi-x86_64-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "winapi-i686-pc-windows-gnu"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
-name = "winapi-build"
+name = "winapi-util"
-version = "0.1.1"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "winapi 0.3.8 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "winapi-x86_64-pc-windows-gnu"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [metadata]
-"checksum aligned 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "d39da9b88ae1a81c03c9c082b8db83f1d0e93914126041962af61034ab44c4a5"
 "checksum aligned 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)" = "d3a316c7ea8e1e9ece54862c992def5a7ac14de9f5832b69d71760680efeeefa"
-"checksum alloc-cortex-m 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)" = "6d5f7d01bc93ce089de636f946f7f1fdc5e5d751732367e019c9755440e7aef4"
 "checksum as-slice 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "293dac66b274fab06f95e7efb05ec439a6b70136081ea522d270bc351ae5bb27"
 "checksum bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)" = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
 "checksum bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)" = "a165d606cf084741d4ac3a28fb6e9b1eb0bd31f6cd999098cfddb0b2ab381dc0"
-"checksum bitflags 1.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "3d155346769a6855b86399e9bc3814ab343cd3d62c7e985113d46a0ec3c281fd"
+"checksum bitflags 1.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "cf1de2fe8c75bc145a2f577add951f8134889b4795d47466a54a5c846d691693"
 "checksum build_const 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "39092a32794787acd8525ee150305ff051b0aa6cc2abaf193924f5ab05425f39"
 "checksum byteorder 1.3.2 (registry+https://github.com/rust-lang/crates.io-index)" = "a7c3dd8985a7111efc5c80b44e23ecdd8c007de8ade3b96595387e812b957cf5"
-"checksum cortex-m 0.1.8 (registry+https://github.com/rust-lang/crates.io-index)" = "3df5de9a9829f2ccb7defa8945fa020c6614cd2f6ba9b5f33db9241dcc01985e"
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+"checksum smoltcp 0.5.0 (git+https://github.com/m-labs/smoltcp.git?rev=8eb01aca364aefe5f823d68d552d62c76c9be4a3)" = "<none>"
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firmware/Cargo.toml

@@ -1,33 +1,38 @@
 [package]
-name = "ionpak-firmware"
+name = "firmware"
 version = "1.0.0"
 authors = ["whitequark <whitequark@whitequark.org>"]
 edition = "2018"
 
 [build-dependencies]
-walkdir = "1.0"
+walkdir = "~2"
 
 [dependencies]
-libm = "0.1.2"
+libm = "0.1.4"
-cortex-m = { version = "0.5", features = ["const-fn"] }
+cortex-m = { version = "0.6", features = ["const-fn"] }
 cortex-m-rt = "0.6"
-crc = { version = "1.7", default-features = false }
+crc = { version = "~1", default-features = false }
-tm4c129x = { version = "0.8", features = ["rt"] }
+tm4c129x = { version = "0.9", features = ["rt"] }
 embedded-hal = { version = "0.2", features = ["unproven"] }
 nb = "0.1"
 cortex-m-semihosting = "0.3"
 byteorder = { version = "1.3", default-features = false }
 bit_field = "0.10"
 bare-metal = "0.2"
-logos = { version = "~0.9", default-features = false, features = ["export_derive"] }
+lexical-core = { version = "~0.6", default-features = false }
-alloc-cortex-m = "0.3"
+nom = { version = "~5", default-features = false }
 
 [dependencies.smoltcp]
-git = "https://github.com/m-labs/smoltcp"
+git = "https://github.com/m-labs/smoltcp.git"
-rev = "cd893e6"
+rev = "8eb01aca364aefe5f823d68d552d62c76c9be4a3"
-features = ["proto-ipv4", "socket-tcp"]
+features = ["ethernet", "proto-ipv4", "socket-tcp"]
 default-features = false
 
+[dependencies.compiler_builtins]
+version = "0.1"
+default-features = false
+features = ["mem", "no-lang-items", "c"]
+
 [profile.release]
 lto = true
 debug = true

firmware/README.md

@@ -0,0 +1,75 @@
+# Thermostat v1 prototype firmware
+
+## Building
+
+### On Debian-based systems
+
+- install [rustup](https://rustup.rs/)
+
+```shell
+apt install gcc gcc-arm-none-eabi git-core
+rustup toolchain install nightly
+rustup update
+rustup target add thumbv7em-none-eabihf --toolchain nightly
+rustup default nightly
+rustup component add rust-src
+cargo install cargo-xbuild
+git clone https://github.com/llvm/llvm-project.git
+export RUST_COMPILER_RT_ROOT=`pwd`/llvm-project/compiler-rt
+
+cd firmware && cargo xbuild --release
+```
+
+The built ELF file will be at `target/thumbv7em-none-eabihf/release/ionpak-firmware`
+
+### Development build on NixOS
+
+Requires NixOS 19.09 or later for cargo-xbuild.
+
+```shell
+nix-shell --run "cd firmware && cargo xbuild --release"
+```
+
+## Network
+
+### Setup
+
+Ethernet, IP: 192.168.1.26/24
+
+Use telnet or netcat to connect to port 23/tcp (telnet)
+
+### Reading ADC input
+
+Set report mode to `once` to obtain the single next value. Report mode
+will turn itself off after the next reading.
+
+Set report mode to `continuous` for a continuous stream of input data.
+
+The scope of this setting is per TCP session.
+
+
+### Commands
+
+| Syntax                                | Function                                                   |
+| ---                                   | ---                                                        |
+| `report`                              | Show current input                                         |
+| `report mode`                         | Show current report mode                                   |
+| `report mode <off/on>`                | Set report mode                                            |
+| `pwm <0/1> max_i_pos <width> <total>` | Set PWM duty cycle for **max_i_pos** to *width / total*    |
+| `pwm <0/1> max_i_neg <width> <total>` | Set PWM duty cycle for **max_i_neg** to *width / total*    |
+| `pwm <0/1> max_v <width> <total>`     | Set PWM duty cycle for **max_v** to *width / total*        |
+| `pwm <0/1> <width> <total>`           | Set PWM duty cycle for **i_set** to manual *width / total* |
+| `pwm <0/1> pid`                       | Set PWM to be controlled by PID                            |
+| `pid`                                 | Show PID configuration                                     |
+| `pid <0/1> target <value>`            | Set the PID controller target                              |
+| `pid <0/1> kp <value>`                | Set proportional gain                                      |
+| `pid <0/1> ki <value>`                | Set integral gain                                          |
+| `pid <0/1> kd <value>`                | Set differential gain                                      |
+| `pid <0/1> output_min <value>`        | Set mininum output                                         |
+| `pid <0/1> output_max <value>`        | Set maximum output                                         |
+| `pid <0/1> integral_min <value>`      | Set integral lower bound                                   |
+| `pid <0/1> integral_max <value>`      | Set integral upper bound                                   |
+| `s-h`                                 | Show Steinhart-Hart equation parameters                    |
+| `s-h <0/1> <a/b/c> <value>`           | Set Steinhart-Hart parameter for a channel                 |
+| `s-h <0/1> parallel_r <value>`        | Set parallel resistance of the ADC                         |
+| `postfilter <0/1> rate <rate>`        | Set postfilter output data rate                            |

firmware/build.rs

@@ -3,49 +3,7 @@ extern crate walkdir;
 use std::env;
 use std::io::Write;
 use std::fs::File;
-use std::path::{Path, PathBuf};
+use std::path::PathBuf;
-use std::process::Command;
-
-use walkdir::WalkDir;
-
-fn git_describe() {
-    let git_dir = Path::new("../.git");
-
-    println!("cargo:rerun-if-changed={}", git_dir.join("HEAD").display());
-    for entry in WalkDir::new(git_dir.join("refs")) {
-        let entry = entry.unwrap();
-        println!("cargo:rerun-if-changed={}", entry.path().display());
-    }
-
-    let version;
-    if git_dir.exists() {
-        let git_describe =
-            Command::new("git")
-                    .arg("describe")
-                    .arg("--tags")
-                    .arg("--dirty")
-                    .arg("--always")
-                    .arg("--long")
-                    .arg("--abbrev=8")
-                    .output()
-                    .ok()
-                    .and_then(|o| String::from_utf8(o.stdout).ok())
-                    .map(|mut s| {
-                        let len = s.trim_end().len();
-                        s.truncate(len);
-                        s
-                    })
-                    .unwrap();
-        let parts = git_describe.split("-").collect::<Vec<_>>();
-        version = format!("{}+{}.{}", parts[0], parts[1], parts[2]);
-    } else {
-        version = "unknown".to_owned();
-    }
-
-    let out_dir = PathBuf::from(env::var("OUT_DIR").unwrap());
-    let mut f = File::create(out_dir.join("git-describe")).unwrap();
-    write!(f, "{}", version).unwrap();
-}
 
 fn linker_script() {
     // Put the linker script somewhere the linker can find it
@@ -61,5 +19,4 @@ fn linker_script() {
 
 fn main() {
     linker_script();
-    git_describe();
 }

firmware/src/ad7172/adc.rs

@@ -2,7 +2,10 @@ use embedded_hal::digital::v2::OutputPin;
 use embedded_hal::blocking::spi::Transfer;
 use super::checksum::{ChecksumMode, Checksum};
 use super::AdcError;
-use super::regs::*;
+use super::{
+    regs, regs::RegisterData,
+    Input, RefSource, PostFilter, DigitalFilterOrder,
+};
 
 /// AD7172-2 implementation
 ///
@@ -25,34 +28,82 @@ impl<SPI: Transfer<u8>, NSS: OutputPin> Adc<SPI, NSS> {
         Ok(adc)
     }
 
-    /// `0x00DX` for AD7271-2
+    /// `0x00DX` for AD7172-2
     pub fn identify(&mut self) -> Result<u16, AdcError<SPI::Error>> {
-        self.read_reg(&Id)
+        self.read_reg(&regs::Id)
             .map(|id| id.id())
     }
 
     pub fn set_checksum_mode(&mut self, mode: ChecksumMode) -> Result<(), AdcError<SPI::Error>> {
-        let mut ifmode = self.read_reg(&IfMode)?;
+        // Cannot use update_reg() here because checksum_mode is
+        // updated between read_reg() and write_reg().
+        let mut ifmode = self.read_reg(&regs::IfMode)?;
         ifmode.set_crc(mode);
         self.checksum_mode = mode;
-        self.write_reg(&IfMode, &mut ifmode)?;
+        self.write_reg(&regs::IfMode, &mut ifmode)?;
         Ok(())
     }
 
-    // pub fn setup(&mut self) -> Result<(), SPI::Error> {
+    pub fn set_sync_enable(&mut self, enable: bool) -> Result<(), AdcError<SPI::Error>> {
-    //     let mut buf = [0, 0, 0];
+        self.update_reg(&regs::GpioCon, |data| {
-    //     adc.write_reg(Register::AdcMode, &mut buf)?;
+            data.set_sync_en(enable);
-    //     let mut buf = [0, 1, 0];
+        })
-    //     adc.write_reg(Register::IfMode, &mut buf)?;
+    }
-    //     let mut buf = [0, 0, 0];
-    //     adc.write_reg(Register::GpioCon, &mut buf)?;
 
-    //     Ok(())
+    pub fn setup_channel(
-    // }
+        &mut self, index: u8, in_pos: Input, in_neg: Input
+    ) -> Result<(), AdcError<SPI::Error>> {
+        self.update_reg(&regs::SetupCon { index }, |data| {
+            data.set_bipolar(false);
+            data.set_refbuf_pos(true);
+            data.set_refbuf_neg(true);
+            data.set_ainbuf_pos(true);
+            data.set_ainbuf_neg(true);
+            data.set_ref_sel(RefSource::External);
+        })?;
+        self.update_reg(&regs::FiltCon { index }, |data| {
+            data.set_enh_filt_en(true);
+            data.set_enh_filt(PostFilter::F16SPS);
+            data.set_order(DigitalFilterOrder::Sinc5Sinc1);
+        })?;
+        // let mut offset = <regs::Offset as regs::Register>::Data::empty();
+        // offset.set_offset(0);
+        // self.write_reg(&regs::Offset { index }, &mut offset);
+        self.update_reg(&regs::Channel { index }, |data| {
+            data.set_setup(index);
+            data.set_enabled(true);
+            data.set_a_in_pos(in_pos);
+            data.set_a_in_neg(in_neg);
+        })?;
+        Ok(())
+    }
+
+    pub fn get_postfilter(&mut self, index: u8) -> Result<Option<PostFilter>, AdcError<SPI::Error>> {
+        self.read_reg(&regs::FiltCon { index })
+            .map(|data| {
+                if data.enh_filt_en() {
+                    Some(data.enh_filt())
+                } else {
+                    None
+                }
+            })
+    }
+
+    pub fn set_postfilter(&mut self, index: u8, filter: Option<PostFilter>) -> Result<(), AdcError<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>, AdcError<SPI::Error>> {
-        self.read_reg(&Status)
+        self.read_reg(&regs::Status)
             .map(|status| {
                 if status.ready() {
                     Some(status.channel())
@@ -63,12 +114,12 @@ impl<SPI: Transfer<u8>, NSS: OutputPin> Adc<SPI, NSS> {
     }
 
     /// Get data
-    pub fn read_data(&mut self) -> Result<u32, AdcError<SPI::Error>> {
+    pub fn read_data(&mut self) -> Result<i32, AdcError<SPI::Error>> {
-        self.read_reg(&Data)
+        self.read_reg(&regs::Data)
             .map(|data| data.data())
     }
 
-    fn read_reg<R: Register>(&mut self, reg: &R) -> Result<R::Data, AdcError<SPI::Error>> {
+    fn read_reg<R: regs::Register>(&mut self, reg: &R) -> Result<R::Data, AdcError<SPI::Error>> {
         let mut reg_data = R::Data::empty();
         let address = 0x40 | reg.address();
         let mut checksum = Checksum::new(self.checksum_mode);
@@ -85,7 +136,7 @@ impl<SPI: Transfer<u8>, NSS: OutputPin> Adc<SPI, NSS> {
         Ok(reg_data)
     }
 
-    fn write_reg<R: Register>(&mut self, reg: &R, reg_data: &mut R::Data) -> Result<(), AdcError<SPI::Error>> {
+    fn write_reg<R: regs::Register>(&mut self, reg: &R, reg_data: &mut R::Data) -> Result<(), AdcError<SPI::Error>> {
         let address = reg.address();
         let mut checksum = Checksum::new(match self.checksum_mode {
             ChecksumMode::Off => ChecksumMode::Off,
@@ -104,7 +155,7 @@ impl<SPI: Transfer<u8>, NSS: OutputPin> Adc<SPI, NSS> {
 
     fn update_reg<R, F, A>(&mut self, reg: &R, f: F) -> Result<A, AdcError<SPI::Error>>
     where
-        R: Register,
+        R: regs::Register,
         F: FnOnce(&mut R::Data) -> A,
     {
         let mut reg_data = self.read_reg(reg)?;

firmware/src/ad7172/mod.rs

@@ -1,4 +1,6 @@
-mod regs;
+use core::fmt;
+
+pub mod regs;
 mod checksum;
 pub use checksum::ChecksumMode;
 mod adc;
@@ -16,6 +18,7 @@ impl<SPI> From<SPI> for AdcError<SPI> {
     }
 }
 
+#[derive(Clone, Copy, Debug)]
 #[repr(u8)]
 pub enum Input {
     Ain0 = 0,
@@ -51,6 +54,27 @@ impl From<u8> for Input {
     }
 }
 
+impl fmt::Display for Input {
+    fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
+        use Input::*;
+
+        match self {
+            Ain0 => "ain0",
+            Ain1 => "ain1",
+            Ain2 => "ain2",
+            Ain3 => "ain3",
+            Ain4 => "ain4",
+            TemperaturePos => "temperature+",
+            TemperatureNeg => "temperature-",
+            AnalogSupplyPos => "analogsupply+",
+            AnalogSupplyNeg => "analogsupply-",
+            RefPos => "ref+",
+            RefNeg => "ref-",
+            _ => "<INVALID>",
+        }.fmt(fmt)
+    }
+}
+
 /// Reference source for ADC conversion
 #[repr(u8)]
 pub enum RefSource {
@@ -74,15 +98,76 @@ impl From<u8> for RefSource {
     }
 }
 
+impl fmt::Display for RefSource {
+    fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
+        use RefSource::*;
+
+        match self {
+            External => "external",
+            Internal => "internal",
+            Avdd1MinusAvss => "avdd1-avss",
+            _ => "<INVALID>",
+        }.fmt(fmt)
+    }
+}
+
+#[derive(Clone, Copy)]
 #[repr(u8)]
 pub enum PostFilter {
+    /// 27 SPS, 47 dB rejection, 36.7 ms settling
     F27SPS = 0b010,
+    /// 21.25 SPS, 62 dB rejection, 40 ms settling
     F21SPS = 0b011,
+    /// 20 SPS, 86 dB rejection, 50 ms settling
     F20SPS = 0b101,
+    /// 16.67 SPS, 92 dB rejection, 60 ms settling
     F16SPS = 0b110,
     Invalid = 0b111,
 }
 
+impl PostFilter {
+    pub const VALID_VALUES: &'static [Self] = &[
+        PostFilter::F27SPS,
+        PostFilter::F21SPS,
+        PostFilter::F20SPS,
+        PostFilter::F16SPS,
+    ];
+
+    pub fn closest(rate: f32) -> Option<Self> {
+        /// (x - y).abs()
+        fn d(x: f32, y: f32) -> f32 {
+            if x >= y {
+                x - y
+            } else {
+                y - x
+            }
+        }
+
+        let mut best: Option<(f32, Self)> = None;
+        for value in Self::VALID_VALUES {
+            let error = d(rate, value.output_rate().unwrap());
+            let better = best
+                .map(|(best_error, _)| error < best_error)
+                .unwrap_or(true);
+            if better {
+                best = Some((error, *value));
+            }
+        }
+        best.map(|(_, best)| best)
+    }
+
+    /// Samples per Second
+    pub fn output_rate(&self) -> Option<f32> {
+        match self {
+            PostFilter::F27SPS => Some(27.0),
+            PostFilter::F21SPS => Some(21.25),
+            PostFilter::F20SPS => Some(20.0),
+            PostFilter::F16SPS => Some(16.67),
+            PostFilter::Invalid => None,
+        }
+    }
+}
+
 impl From<u8> for PostFilter {
     fn from(x: u8) -> Self {
         match x {

firmware/src/ad7172/regs.rs

@@ -39,12 +39,12 @@ macro_rules! def_reg {
             }
         }
     };
-    ($Reg: ident, $index: ty, $reg: ident, $addr: expr, $size: expr) => {
+    ($Reg: ident, u8, $reg: ident, $addr: expr, $size: expr) => {
-        struct $Reg { pub index: $index, }
+        pub struct $Reg { pub index: u8, }
         impl Register for $Reg {
             type Data = $reg::Data;
             fn address(&self) -> u8 {
-                $addr + (self.index as u8)
+                $addr + self.index
             }
         }
         mod $reg {
@@ -63,16 +63,19 @@ macro_rules! def_reg {
 
 macro_rules! reg_bit {
     ($getter: ident, $byte: expr, $bit: expr, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> bool {
             self.0[$byte].get_bit($bit)
         }
     };
     ($getter: ident, $setter: ident, $byte: expr, $bit: expr, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> bool {
             self.0[$byte].get_bit($bit)
         }
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $setter(&mut self, value: bool) {
             self.0[$byte].set_bit($bit, value);
@@ -82,32 +85,38 @@ macro_rules! reg_bit {
 
 macro_rules! reg_bits {
     ($getter: ident, $byte: expr, $bits: expr, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> u8 {
             self.0[$byte].get_bits($bits)
         }
     };
     ($getter: ident, $setter: ident, $byte: expr, $bits: expr, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> u8 {
             self.0[$byte].get_bits($bits)
         }
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $setter(&mut self, value: u8) {
             self.0[$byte].set_bits($bits, value);
         }
     };
     ($getter: ident, $byte: expr, $bits: expr, $ty: ty, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> $ty {
             self.0[$byte].get_bits($bits) as $ty
         }
     };
     ($getter: ident, $setter: ident, $byte: expr, $bits: expr, $ty: ty, $doc: expr) => {
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $getter(&self) -> $ty {
             self.0[$byte].get_bits($bits).into()
         }
+        #[allow(unused)]
         #[doc = $doc]
         pub fn $setter(&mut self, value: $ty) {
             self.0[$byte].set_bits($bits, value as u8);
@@ -136,12 +145,23 @@ impl if_mode::Data {
 
 def_reg!(Data, data, 0x04, 3);
 impl data::Data {
-    pub fn data(&self) -> u32 {
+    pub fn data(&self) -> i32 {
+        let raw =
             (u32::from(self.0[0]) << 16) |
             (u32::from(self.0[1]) << 8) |
-        u32::from(self.0[2])
+            u32::from(self.0[2]);
+        if raw & 0x80_0000 != 0 {
+            ((raw & 0x7F_FFFF) | 0x8000_0000) as i32
+        } else {
+            raw as i32
         }
     }
+}
+
+def_reg!(GpioCon, gpio_con, 0x06, 2);
+impl gpio_con::Data {
+    reg_bit!(sync_en, set_sync_en, 0, 3, "Enables the SYNC/ERROR pin as a sync input");
+}
 
 def_reg!(Id, id, 0x07, 2);
 impl id::Data {
@@ -156,11 +176,13 @@ impl channel::Data {
     reg_bits!(setup, set_setup, 0, 4..=5, "Setup number");
 
     /// 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()
     }
     /// Set which input is connected to positive input of this channel
+    #[allow(unused)]
     pub fn set_a_in_pos(&mut self, value: Input) {
         let value = value as u8;
         self.0[0].set_bits(0..=1, value >> 3);
@@ -187,11 +209,11 @@ impl channel::Data {
 
 def_reg!(SetupCon, u8, setup_con, 0x20, 2);
 impl setup_con::Data {
-    reg_bit!(bi_unipolar, set_bi_unipolar, 0, 6, "Unipolar (`false`) or bipolar (`true`) coded output");
+    reg_bit!(bipolar, set_bipolar, 0, 4, "Unipolar (`false`) or bipolar (`true`) coded output");
-    reg_bit!(refbuf_pos, set_refbuf_pos, 0, 5, "Enable REF+ input buffer");
+    reg_bit!(refbuf_pos, set_refbuf_pos, 0, 3, "Enable REF+ input buffer");
-    reg_bit!(refbuf_neg, set_refbuf_neg, 0, 5, "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, 3, "Enable AIN+ input buffer");
+    reg_bit!(ainbuf_pos, set_ainbuf_pos, 0, 1, "Enable AIN+ input buffer");
-    reg_bit!(ainbuf_neg, set_ainbuf_neg, 0, 2, "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!(ref_sel, set_ref_sel, 1, 4..=5, RefSource, "Select reference source for conversion");
 }
@@ -207,11 +229,13 @@ impl filt_con::Data {
 
 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])
     }
+    #[allow(unused)]
     pub fn set_offset(&mut self, value: u32) {
         self.0[0] = (value >> 16) as u8;
         self.0[1] = (value >> 8) as u8;
@@ -221,11 +245,13 @@ impl offset::Data {
 
 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])
     }
+    #[allow(unused)]
     pub fn set_gain(&mut self, value: u32) {
         self.0[0] = (value >> 16) as u8;
         self.0[1] = (value >> 8) as u8;

firmware/src/board/gpio.rs

@@ -72,3 +72,11 @@ pub struct PE4;
 def_gpio!(GPIO_PORTE_AHB, PE4, 4);
 pub struct PE5;
 def_gpio!(GPIO_PORTE_AHB, PE5, 5);
+pub struct PK1;
+def_gpio!(GPIO_PORTK, PK1, 1);
+pub struct PP2;
+def_gpio!(GPIO_PORTP, PP2, 2);
+pub struct PP3;
+def_gpio!(GPIO_PORTP, PP3, 3);
+pub struct PQ4;
+def_gpio!(GPIO_PORTQ, PQ4, 4);

firmware/src/board/mod.rs

@@ -4,6 +4,7 @@ use tm4c129x;
 pub mod gpio;
 pub mod softspi;
 pub mod systick;
+pub mod pwm;
 
 
 const UART_DIV: u32 = (((/*sysclk*/120_000_000 * 8) / /*baud*/115200) + 1) / 2;
@@ -130,46 +131,6 @@ pub fn init() {
         }
         while !timers_ready(sysctl) {}
 
-        // Manual: 13.4.5 PWM Mode
-        macro_rules! setup_timer_pwm {
-            ($T: tt) => (
-                let timer = unsafe { &*tm4c129x::$T::ptr() };
-                timer.cfg.write(|w| unsafe { w.bits(4) });
-                timer.tamr.modify(|_, w| unsafe {
-                    w
-                        .taams().bit(true)
-                        .tacmr().bit(false)
-                        .tamr().bits(2)
-                });
-                timer.tbmr.modify(|_, w| unsafe {
-                    w
-                        .tbams().bit(true)
-                        .tbcmr().bit(false)
-                        .tbmr().bits(2)
-                });
-                timer.ctl.modify(|_, w| {
-                    w
-                        .tapwml().bit(false)
-                        .tbpwml().bit(false)
-                });
-                // no prescaler
-                // no interrupts
-                timer.tailr.write(|w| unsafe { w.bits(0xFFFF) });
-                timer.tbilr.write(|w| unsafe { w.bits(0xFFFF) });
-                timer.tamatchr.write(|w| unsafe { w.bits(0x8000) });
-                timer.tbmatchr.write(|w| unsafe { w.bits(0x8000) });
-                timer.ctl.modify(|_, w| {
-                    w
-                        .taen().bit(true)
-                        .tben().bit(true)
-                });
-            )
-        }
-        setup_timer_pwm!(TIMER2);
-        setup_timer_pwm!(TIMER3);
-        setup_timer_pwm!(TIMER4);
-        setup_timer_pwm!(TIMER5);
-
         systick::init(cs);
     });
 }

firmware/src/board/pwm.rs

@@ -0,0 +1,138 @@
+use tm4c129x::{
+    TIMER2, TIMER3, TIMER4, TIMER5,
+};
+
+pub struct T2CCP0;
+pub struct T2CCP1;
+pub struct T3CCP0;
+pub struct T3CCP1;
+pub struct T4CCP0;
+pub struct T4CCP1;
+pub struct T5CCP0;
+pub struct T5CCP1;
+
+pub trait PwmPeripheral {
+    type ChannelA: PwmChannel;
+    type ChannelB: PwmChannel;
+    fn split() -> (Self::ChannelA, Self::ChannelB);
+}
+
+macro_rules! pwm_peripheral {
+    ($TIMER: ty, $A: tt, $B: tt) => {
+        impl PwmPeripheral for $TIMER {
+            type ChannelA = $A;
+            type ChannelB = $B;
+            fn split() -> (Self::ChannelA, Self::ChannelB) {
+                let regs = unsafe { &*Self::ptr() };
+                regs.cfg.write(|w| unsafe { w.bits(4) });
+
+                let mut a = $A;
+                a.configure();
+                let mut b = $B;
+                b.configure();
+                (a, b)
+            }
+        }
+    };
+}
+
+pwm_peripheral!(TIMER2, T2CCP0, T2CCP1);
+pwm_peripheral!(TIMER3, T3CCP0, T3CCP1);
+pwm_peripheral!(TIMER4, T4CCP0, T4CCP1);
+pwm_peripheral!(TIMER5, T5CCP0, T5CCP1);
+
+
+pub trait PwmChannel {
+    fn configure(&mut self);
+    fn get(&mut self) -> (u16, u16);
+    fn set(&mut self, width: u16, total: u16);
+}
+
+macro_rules! pwm_channel_a {
+    ($CHANNEL: ty, $TIMER: tt) => {
+        impl PwmChannel for $CHANNEL {
+            fn configure(&mut self) {
+                let timer = unsafe { &*tm4c129x::$TIMER::ptr() };
+                timer.tamr.modify(|_, w| unsafe {
+                    w
+                        .taams().bit(true)
+                        .tacmr().bit(false)
+                        .tamr().bits(2)
+                });
+                timer.ctl.modify(|_, w| {
+                    w
+                        .tapwml().bit(false)
+                });
+                // no prescaler
+                // no interrupts
+                timer.tailr.write(|w| unsafe { w.bits(0xFFFF) });
+                timer.tamatchr.write(|w| unsafe { w.bits(0x0) });
+                timer.ctl.modify(|_, w| {
+                    w
+                        .taen().bit(true)
+                });
+            }
+
+            fn get(&mut self) -> (u16, u16) {
+                let timer = unsafe { &*tm4c129x::$TIMER::ptr() };
+                (timer.tamatchr.read().bits() as u16,
+                 timer.tailr.read().bits() as u16)
+            }
+
+            fn set(&mut self, width: u16, total: u16) {
+                let timer = unsafe { &*tm4c129x::$TIMER::ptr() };
+                timer.tamatchr.write(|w| unsafe { w.bits(width.into()) });
+                timer.tailr.write(|w| unsafe { w.bits(total.into()) });
+            }
+        }
+    };
+}
+
+macro_rules! pwm_channel_b {
+    ($CHANNEL: ty, $TIMER: tt) => {
+        impl PwmChannel for $CHANNEL {
+            fn configure(&mut self) {
+                let timer = unsafe { &*tm4c129x::$TIMER::ptr() };
+                timer.tbmr.modify(|_, w| unsafe {
+                    w
+                        .tbams().bit(true)
+                        .tbcmr().bit(false)
+                        .tbmr().bits(2)
+                });
+                timer.ctl.modify(|_, w| {
+                    w
+                        .tbpwml().bit(false)
+                });
+                // no prescaler
+                // no interrupts
+                timer.tbilr.write(|w| unsafe { w.bits(0xFFFF) });
+                timer.tbmatchr.write(|w| unsafe { w.bits(0x0) });
+                timer.ctl.modify(|_, w| {
+                    w
+                        .tben().bit(true)
+                });
+            }
+
+            fn get(&mut self) -> (u16, u16) {
+                let timer = unsafe { &*tm4c129x::$TIMER::ptr() };
+                (timer.tbmatchr.read().bits() as u16,
+                 timer.tbilr.read().bits() as u16)
+            }
+
+            fn set(&mut self, width: u16, total: u16) {
+                let timer = unsafe { &*tm4c129x::$TIMER::ptr() };
+                timer.tbmatchr.write(|w| unsafe { w.bits(width.into()) });
+                timer.tbilr.write(|w| unsafe { w.bits(total.into()) });
+            }
+        }
+    };
+}
+
+pwm_channel_a!(T2CCP0, TIMER2);
+pwm_channel_b!(T2CCP1, TIMER2);
+pwm_channel_a!(T3CCP0, TIMER3);
+pwm_channel_b!(T3CCP1, TIMER3);
+pwm_channel_a!(T4CCP0, TIMER4);
+pwm_channel_b!(T4CCP1, TIMER4);
+pwm_channel_a!(T5CCP0, TIMER5);
+pwm_channel_b!(T5CCP1, TIMER5);

firmware/src/command_parser.rs

@@ -1,121 +1,533 @@
-use logos::Logos;
+use core::fmt;
-use super::session::ReportMode;
+use nom::{
+    IResult,
+    branch::alt,
+    bytes::complete::{is_a, tag, take_while1},
+    character::{is_digit, complete::{char, one_of}},
+    combinator::{complete, map, opt, value},
+    sequence::{preceded, separated_pair},
+    multi::{fold_many0, fold_many1},
+    error::ErrorKind,
+};
+use lexical_core as lexical;
 
-#[derive(Logos, Debug, PartialEq)]
-enum Token {
-    #[end]
-    End,
-    #[error]
-    Error,
 
-    #[token = "Quit"]
+#[derive(Clone, Debug, PartialEq)]
-    Quit,
-    #[token = "show"]
-    Show,
-    #[token = "channel"]
-    Channel,
-    #[token = "report"]
-    Report,
-    #[token = "mode"]
-    Mode,
-    #[token = "off"]
-    Off,
-    #[token = "once"]
-    Once,
-    #[token = "continuous"]
-    Continuous,
-    #[token = "enable"]
-    Enable,
-    #[token = "disable"]
-    Disable,
-
-    #[regex = "[0-9]+"]
-    Number,
-}
-
-#[derive(Debug)]
 pub enum Error {
-    Parser,
+    Parser(ErrorKind),
-    UnexpectedEnd,
+    Incomplete,
-    UnexpectedToken(Token),
+    UnexpectedInput(u8),
-    NoSuchChannel,
+    ParseNumber(lexical::Error)
 }
 
-#[derive(Debug)]
+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::Error((_, e)) =>
+                Error::Parser(e),
+            nom::Err::Failure((_, e)) =>
+                Error::Parser(e),
+        }
+    }
+}
+
+impl From<lexical::Error> for Error {
+    fn from(e: lexical::Error) -> Self {
+        Error::ParseNumber(e)
+    }
+}
+
+impl fmt::Display for Error {
+    fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
+        match self {
+            Error::Incomplete =>
+                "incomplete input".fmt(fmt),
+            Error::UnexpectedInput(c) => {
+                "unexpected input: ".fmt(fmt)?;
+                c.fmt(fmt)
+            }
+            Error::Parser(e) => {
+                "parser: ".fmt(fmt)?;
+                (e as &dyn core::fmt::Debug).fmt(fmt)
+            }
+            Error::ParseNumber(e) => {
+                "parsing number: ".fmt(fmt)?;
+                (e as &dyn core::fmt::Debug).fmt(fmt)
+            }
+        }
+    }
+}
+
+#[derive(Debug, Clone, PartialEq)]
 pub enum ShowCommand {
-    ReportMode,
+    Input,
+    Reporting,
+    Pwm,
+    Pid,
+    SteinhartHart,
+    PostFilter,
 }
 
-
+#[derive(Debug, Clone, PartialEq)]
-#[derive(Debug)]
+pub enum PidParameter {
-pub enum ChannelCommand {
+    Target,
-    Enable,
+    KP,
-    Disable,
+    KI,
+    KD,
+    OutputMin,
+    OutputMax,
+    IntegralMin,
+    IntegralMax,
 }
 
-#[derive(Debug)]
+/// Steinhart-Hart equation parameter
+#[derive(Debug, Clone, PartialEq)]
+pub enum ShParameter {
+    A,
+    B,
+    C,
+    ParallelR,
+}
+
+#[derive(Debug, Clone, PartialEq)]
+pub struct PwmConfig {
+    pub width: u16,
+    pub total: u16,
+}
+
+#[derive(Debug, Clone, PartialEq)]
+pub enum PwmMode {
+    Manual(PwmConfig),
+    Pid,
+}
+
+#[derive(Debug, Clone, PartialEq)]
+pub enum PwmSetup {
+    ISet(PwmMode),
+    MaxIPos(PwmConfig),
+    MaxINeg(PwmConfig),
+    MaxV(PwmConfig),
+}
+
+#[derive(Debug, Clone, PartialEq)]
 pub enum Command {
     Quit,
     Show(ShowCommand),
-    Report(ReportMode),
+    Reporting(bool),
-    Channel(u8, ChannelCommand),
+    Pwm {
+        channel: usize,
+        setup: PwmSetup,
+    },
+    Pid {
+        channel: usize,
+        parameter: PidParameter,
+        value: f32,
+    },
+    SteinhartHart {
+        channel: usize,
+        parameter: ShParameter,
+        value: f32,
+    },
+    PostFilter {
+        channel: usize,
+        rate: f32,
+    },
 }
 
-const CHANNEL_IDS: &'static [&'static str] = &[
+fn end(input: &[u8]) -> IResult<&[u8], ()> {
-    "0", "1", "2", "3",
+    complete(
-];
+        fold_many0(
+            one_of("\r\n\t "),
+            (), |(), _| ()
+        )
+    )(input)
+}
+
+fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
+    fold_many1(char(' '), (), |(), _| ())(input)
+}
+
+fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u16, Error>> {
+    take_while1(is_digit)(input)
+        .map(|(input, digits)| {
+            let result = lexical::parse(digits)
+                .map_err(|e| e.into());
+            (input, result)
+        })
+}
+
+fn float(input: &[u8]) -> IResult<&[u8], Result<f32, Error>> {
+    let (input, sign) = opt(is_a("-"))(input)?;
+    let negative = sign.is_some();
+    let (input, digits) = take_while1(|c| is_digit(c) || c == '.' as u8)(input)?;
+    let result = lexical::parse(digits)
+        .map(|result: f32| if negative { -result } else { result })
+        .map_err(|e| e.into());
+    Ok((input, result))
+}
+
+fn off_on(input: &[u8]) -> IResult<&[u8], bool> {
+    alt((value(false, tag("off")),
+         value(true, tag("on"))
+    ))(input)
+}
+
+fn channel(input: &[u8]) -> IResult<&[u8], usize> {
+    map(one_of("01"), |c| (c as usize) - ('0' as usize))(input)
+}
+
+fn report(input: &[u8]) -> IResult<&[u8], Command> {
+    preceded(
+        tag("report"),
+        alt((
+            preceded(
+                whitespace,
+                preceded(
+                    tag("mode"),
+                    alt((
+                        preceded(
+                            whitespace,
+                            // `report mode <on | off>` - Switch repoting mode
+                            map(off_on, Command::Reporting)
+                        ),
+                        // `report mode` - Show current reporting state
+                        value(Command::Show(ShowCommand::Reporting), end)
+                    ))
+                )),
+            // `report` - Report once
+            value(Command::Show(ShowCommand::Input), end)
+        ))
+    )(input)
+}
+
+/// `pwm ... <width> <total>` - Set pwm duty cycle
+fn pwm_config(input: &[u8]) -> IResult<&[u8], Result<PwmConfig, Error>> {
+    let (input, width) = unsigned(input)?;
+    let width = match width {
+        Ok(width) => width,
+        Err(e) => return Ok((input, Err(e.into()))),
+    };
+    let (input, _) = whitespace(input)?;
+    let (input, total) = unsigned(input)?;
+    let total = match total {
+        Ok(total) => total,
+        Err(e) => return Ok((input, Err(e.into()))),
+    };
+    Ok((input, Ok(PwmConfig { width, total })))
+}
+
+fn pwm_setup(input: &[u8]) -> IResult<&[u8], Result<PwmSetup, Error>> {
+    alt((
+        map(
+            preceded(
+                tag("max_i_pos"),
+                preceded(
+                    whitespace,
+                    pwm_config
+                )
+            ),
+            |result| result.map(PwmSetup::MaxIPos)
+        ),
+        map(
+            preceded(
+                tag("max_i_neg"),
+                preceded(
+                    whitespace,
+                    pwm_config
+                )
+            ),
+            |result| result.map(PwmSetup::MaxINeg)
+        ),
+        map(
+            preceded(
+                tag("max_v"),
+                preceded(
+                    whitespace,
+                    pwm_config
+                )
+            ),
+            |result| result.map(PwmSetup::MaxV)
+        ),
+        map(pwm_config, |result| result.map(|config| {
+            PwmSetup::ISet(PwmMode::Manual(config))
+        }))
+    ))(input)
+}
+
+/// `pwm <0-1> pid` - Set PWM to be controlled by PID
+fn pwm_pid(input: &[u8]) -> IResult<&[u8], Result<PwmSetup, Error>> {
+    value(Ok(PwmSetup::ISet(PwmMode::Pid)), tag("pid"))(input)
+}
+
+fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("pwm")(input)?;
+    alt((
+        preceded(
+            whitespace,
+            map(
+                separated_pair(
+                    channel,
+                    whitespace,
+                    alt((
+                        pwm_pid,
+                        pwm_setup
+                    ))
+                ),
+                |(channel, setup)| setup.map(|setup| Command::Pwm { channel, setup })
+            )
+        ),
+        value(Ok(Command::Show(ShowCommand::Pwm)), end)
+    ))(input)
+}
+
+/// `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((value(PidParameter::Target, tag("target")),
+             value(PidParameter::KP, tag("kp")),
+             value(PidParameter::KI, tag("ki")),
+             value(PidParameter::KD, tag("kd")),
+             value(PidParameter::OutputMin, tag("output_min")),
+             value(PidParameter::OutputMax, tag("output_max")),
+             value(PidParameter::IntegralMin, tag("integral_min")),
+             value(PidParameter::IntegralMax, tag("integral_max"))
+        ))(input)?;
+    let (input, _) = whitespace(input)?;
+    let (input, value) = float(input)?;
+    let result = value
+        .map(|value| Command::Pid { channel, parameter, value });
+    Ok((input, result))
+}
+
+/// `pid` | `pid <pid_parameter>`
+fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("pid")(input)?;
+    alt((
+        preceded(
+            whitespace,
+            pid_parameter
+        ),
+        value(Ok(Command::Show(ShowCommand::Pid)), end)
+    ))(input)
+}
+
+/// `s-h <0-1> <parameter> <value>`
+fn steinhart_hart_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, channel) = channel(input)?;
+    let (input, _) = whitespace(input)?;
+    let (input, parameter) =
+        alt((value(ShParameter::A, tag("a")),
+             value(ShParameter::B, tag("b")),
+             value(ShParameter::C, tag("c")),
+             value(ShParameter::ParallelR, tag("parallel_r"))
+        ))(input)?;
+    let (input, _) = whitespace(input)?;
+    let (input, value) = float(input)?;
+    let result = value
+        .map(|value| Command::SteinhartHart { channel, parameter, value });
+    Ok((input, result))
+}
+
+/// `s-h` | `s-h <steinhart_hart_parameter>`
+fn steinhart_hart(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    let (input, _) = tag("s-h")(input)?;
+    alt((
+        preceded(
+            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| {
+                let (input, channel) = channel(input)?;
+                let (input, _) = whitespace(input)?;
+                let (input, _) = tag("rate")(input)?;
+                let (input, _) = whitespace(input)?;
+                let (input, rate) = float(input)?;
+                let result = rate
+                    .map(|rate| Command::PostFilter {
+                        channel, rate,
+                    });
+                Ok((input, result))
+            }
+        ),
+        value(Ok(Command::Show(ShowCommand::PostFilter)), end)
+    ))(input)
+}
+
+fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
+    alt((value(Ok(Command::Quit), tag("quit")),
+         map(report, Ok),
+         pwm,
+         pid,
+         steinhart_hart,
+         postfilter,
+    ))(input)
+}
 
 impl Command {
-    pub fn parse(input: &str) -> Result<Self, Error> {
+    pub fn parse(input: &[u8]) -> Result<Self, Error> {
-        let mut lexer = Token::lexer(input);
+        match command(input) {
-
+            Ok((b"", result)) =>
-        macro_rules! choice {
+                result,
-            [$($token: tt => $block: stmt,)*] => {
+            Ok((input_remain, _)) =>
-                match lexer.token {
+                Err(Error::UnexpectedInput(input_remain[0])),
-                    $(
+            Err(e) =>
-                        Token::$token => {
+                Err(e.into()),
-                            lexer.advance();
-                            $block
-                        }
-                    )*
-                    Token::End => Err(Error::UnexpectedEnd),
-                    _ => Err(Error::UnexpectedToken(lexer.token))
         }
     }
 }
 
-        choice![
+#[cfg(test)]
-            Quit => Ok(Command::Quit),
+mod test {
-            Report => choice![
+    use super::*;
-                Mode => choice![
+
-                    End => Ok(Command::Show(ShowCommand::ReportMode)),
+    #[test]
-                    Off => Ok(Command::Report(ReportMode::Off)),
+    fn parse_quit() {
-                    Once => Ok(Command::Report(ReportMode::Once)),
+        let command = Command::parse(b"quit");
-                    Continuous => Ok(Command::Report(ReportMode::Continuous)),
+        assert_eq!(command, Ok(Command::Quit));
-                ],
-                End => Ok(Command::Report(ReportMode::Once)),
-            ],
-            Channel => choice![
-                Number => {
-                    let channel = CHANNEL_IDS.iter()
-                        .position(|id| *id == lexer.slice());
-                    match channel {
-                        Some(channel) => {
-                            choice![
-                                Enable => Ok(Command::Channel(
-                                    channel as u8,
-                                    ChannelCommand::Enable
-                                )),
-                                Disable => Ok(Command::Channel(
-                                    channel as u8,
-                                    ChannelCommand::Enable
-                                )),
-                            ]
     }
-                        None => Err(Error::NoSuchChannel)
+
+    #[test]
+    fn parse_report() {
+        let command = Command::parse(b"report");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::Input)));
     }
-                },
+
-            ],
+    #[test]
-        ]
+    fn parse_report_mode() {
+        let command = Command::parse(b"report mode");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::Reporting)));
+    }
+
+    #[test]
+    fn parse_report_mode_on() {
+        let command = Command::parse(b"report mode on");
+        assert_eq!(command, Ok(Command::Reporting(true)));
+    }
+
+    #[test]
+    fn parse_report_mode_off() {
+        let command = Command::parse(b"report mode off");
+        assert_eq!(command, Ok(Command::Reporting(false)));
+    }
+
+    #[test]
+    fn parse_pwm_manual() {
+        let command = Command::parse(b"pwm 1 16383 65535");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 1,
+            setup: PwmSetup::ISet(PwmMode::Manual(PwmConfig {
+                width: 16383,
+                total: 65535,
+            })),
+        }));
+    }
+
+    #[test]
+    fn parse_pwm_pid() {
+        let command = Command::parse(b"pwm 0 pid");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 0,
+            setup: PwmSetup::ISet(PwmMode::Pid),
+        }));
+    }
+
+    #[test]
+    fn parse_pwm_max_i_pos() {
+        let command = Command::parse(b"pwm 0 max_i_pos 7 13");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 0,
+            setup: PwmSetup::MaxIPos(PwmConfig {
+                width: 7,
+                total: 13,
+            }),
+        }));
+    }
+
+    #[test]
+    fn parse_pwm_max_i_neg() {
+        let command = Command::parse(b"pwm 0 max_i_neg 128 65535");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 0,
+            setup: PwmSetup::MaxINeg(PwmConfig {
+                width: 128,
+                total: 65535,
+            }),
+        }));
+    }
+
+    #[test]
+    fn parse_pwm_max_v() {
+        let command = Command::parse(b"pwm 0 max_v 32768 65535");
+        assert_eq!(command, Ok(Command::Pwm {
+            channel: 0,
+            setup: PwmSetup::MaxV(PwmConfig {
+                width: 32768,
+                total: 65535,
+            }),
+        }));
+    }
+
+    #[test]
+    fn parse_pid() {
+        let command = Command::parse(b"pid");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::Pid)));
+    }
+
+    #[test]
+    fn parse_pid_target() {
+        let command = Command::parse(b"pid 0 target 36.5");
+        assert_eq!(command, Ok(Command::Pid {
+            channel: 0,
+            parameter: PidParameter::Target,
+            value: 36.5,
+        }));
+    }
+
+    #[test]
+    fn parse_pid_integral_max() {
+        let command = Command::parse(b"pid 1 integral_max 2000");
+        assert_eq!(command, Ok(Command::Pid {
+            channel: 1,
+            parameter: PidParameter::IntegralMax,
+            value: 2000.0,
+        }));
+    }
+
+    #[test]
+    fn parse_steinhart_hart() {
+        let command = Command::parse(b"s-h");
+        assert_eq!(command, Ok(Command::Show(ShowCommand::SteinhartHart)));
+    }
+
+    #[test]
+    fn parse_steinhart_hart_parallel_r() {
+        let command = Command::parse(b"s-h 1 parallel_r 23.05");
+        assert_eq!(command, Ok(Command::SteinhartHart {
+            channel: 1,
+            parameter: ShParameter::ParallelR,
+            value: 23.05,
+        }));
+    }
+
+    #[test]
+    fn parse_postfilter_rate() {
+        let command = Command::parse(b"postfilter 0 rate 21");
+        assert_eq!(command, Ok(Command::PostFilter {
+            channel: 0,
+            rate: 21.0,
+        }));
     }
 }

firmware/src/ethmac.rs

@@ -155,11 +155,11 @@ impl RxRing {
             (EMAC_RDES0_FS | EMAC_RDES0_LS)
     }
 
-    unsafe fn buf_as_slice<'a>(&self) -> &'a [u8] {
+    unsafe fn buf_as_slice<'a>(&self) -> &'a mut [u8] {
         let len  = (self.desc_buf[self.cur_desc + 0] & EMAC_RDES0_FL) >> 16;
         let len  = cmp::min(len as usize, ETH_RX_BUFFER_SIZE);
-        let addr = self.desc_buf[self.cur_desc + 2] as *const u8;
+        let addr = self.desc_buf[self.cur_desc + 2] as *mut u8;
-        slice::from_raw_parts(addr, len)
+        slice::from_raw_parts_mut(addr, len)
     }
 
     fn buf_release(&mut self) {
@@ -428,7 +428,7 @@ pub struct RxToken<'a>(&'a mut RxRing);
 
 impl<'a> phy::RxToken for RxToken<'a> {
     fn consume<R, F>(self, _timestamp: Instant, f: F) -> Result<R>
-            where F: FnOnce(&[u8]) -> Result<R> {
+            where F: FnOnce(&mut [u8]) -> Result<R> {
         let result = f(unsafe { self.0.buf_as_slice() });
         self.0.buf_release();
         result

firmware/src/main.rs

@@ -1,17 +1,14 @@
-#![feature(const_fn)]
+#![feature(const_fn, proc_macro_hygiene)]
-#![feature(alloc_error_handler)]
+#![cfg_attr(not(test), no_std)]
-#![no_std]
+#![cfg_attr(not(test), no_main)]
-#![no_main]
 
-extern crate alloc;
+use cortex_m_rt::entry;
-use cortex_m_rt::{entry, heap_start};
 use core::fmt::{self, Write};
 use smoltcp::time::Instant;
 use smoltcp::wire::{IpCidr, IpAddress, EthernetAddress};
 use smoltcp::iface::{NeighborCache, EthernetInterfaceBuilder};
 use smoltcp::socket::{SocketSet, TcpSocket, TcpSocketBuffer};
 use cortex_m_semihosting::hio;
-use alloc_cortex_m::CortexMHeap;
 
 #[macro_export]
 macro_rules! print {
@@ -27,30 +24,32 @@ macro_rules! println {
     ($fmt:expr, $($arg:tt)*) => (print!(concat!($fmt, "\n"), $($arg)*));
 }
 
+#[cfg(not(test))]
 #[no_mangle] // https://github.com/rust-lang/rust/issues/{38281,51647}
 #[panic_handler]
 pub fn panic_fmt(info: &core::panic::PanicInfo) -> ! {
     println!("{}", info);
+    let mut stdout = hio::hstdout().unwrap();
+    let _ = writeln!(stdout, "{}", info);
     loop {}
 }
 
-#[global_allocator]
-static ALLOCATOR: CortexMHeap = CortexMHeap::empty();
-const HEAP_SIZE: usize = 8192;
-
-#[alloc_error_handler]
-fn alloc_error_handler(layout: alloc::alloc::Layout) -> ! {
-    panic!("Allocation error for: {:?}", layout)
-}
-
 mod board;
-use self::board::{gpio::Gpio, systick::get_time};
+use self::board::{
+    gpio::Gpio,
+    systick::get_time,
+};
 mod ethmac;
 mod command_parser;
-use command_parser::{Command, ShowCommand};
+use command_parser::{Command, ShowCommand, PwmSetup, PwmMode, PwmConfig};
 mod session;
 use self::session::{Session, SessionOutput};
 mod ad7172;
+mod pid;
+mod tec;
+use tec::{Tec, TecPin};
+mod steinhart_hart;
+use steinhart_hart as sh;
 
 pub struct UART0;
 
@@ -85,23 +84,62 @@ macro_rules! create_socket {
     )
 }
 
+const VCC: f32 = 3.3;
+
+const PWM_PID_WIDTH: u16 = 0xffff;
+const PWM_MAX: f32 = PWM_PID_WIDTH as f32;
+
+const DEFAULT_PID_PARAMETERS: pid::Parameters = pid::Parameters {
+    kp: 0.5 * PWM_MAX,
+    ki: 0.05 * PWM_MAX,
+    kd: 0.45 * PWM_MAX,
+    output_min: 0.0,
+    output_max: PWM_MAX,
+    integral_min: 0.0,
+    integral_max: PWM_MAX,
+};
+
+const DEFAULT_SH_PARAMETERS: sh::Parameters = sh::Parameters {
+    a: 0.001_4,
+    b: 0.000_237,
+    c: 0.000_000_099,
+    parallel_r: 5_110.0,  // Ohm (TODO: verify)
+};
+
+// TODO: maybe rename to `TECS`?
+/// Number of TEC channels with four PWM channels each
+pub const CHANNELS: usize = 2;
+
+// TODO: maybe rename to `TecState`?
+/// State per TEC channel
+#[derive(Clone)]
+struct ControlState {
+    /// Report data (time, data, temperature)
+    report: Option<(u64, i32, f32, Option<u16>)>,
+    pid_enabled: bool,
+    pid: pid::Controller,
+    sh: sh::Parameters,
+}
+
+#[cfg(not(test))]
 #[entry]
 fn main() -> ! {
     let mut stdout = hio::hstdout().unwrap();
-    writeln!(stdout, "ionpak boot").unwrap();
+    writeln!(stdout, "tecpak boot").unwrap();
     board::init();
     writeln!(stdout, "board initialized").unwrap();
-    unsafe { ALLOCATOR.init(heap_start() as usize, HEAP_SIZE) };
+    let mut tec0 = Tec::tec0().setup(PWM_PID_WIDTH / 2, PWM_PID_WIDTH);
+    let mut tec1 = Tec::tec1().setup(PWM_PID_WIDTH / 2, PWM_PID_WIDTH);
 
     println!(r#"
   _                         _
- (_)                       | |
+ | |                       | |
-  _  ___  _ __  _ __   __ _| |
+/  _/___  _ __  _ __   __ _| |
- | |/ _ \| '_ \| '_ \ / _` | |/ /
+ | |/ _ \ /'__\| '_ \ / _` | |/ /
- | | (_) | | | | |_) | (_| |   <
+ | | (/_/| |___| |_) | (_| |   <
- |_|\___/|_| |_| .__/ \__,_|_|\_\
+ |_|\___\ \___/| .__/ \__,_|_|\_\
                | |
-               |_|
+               |_|             v1
 "#);
     // CSn
     let pb4 = board::gpio::PB4.into_output();
@@ -127,8 +165,9 @@ fn main() -> ! {
                 writeln!(stdout, "ADC id: {:04X}", id).unwrap();
                 break;
             }
-            Ok(id) =>
+            Ok(_id) => {
-                writeln!(stdout, "Corrupt ADC id: {:04X}", id).unwrap(),
+                // This always happens on the first attempt. So retry silently
+            }
         };
     }
     writeln!(stdout, "AD7172: setting checksum mode").unwrap();
@@ -146,10 +185,25 @@ fn main() -> ! {
                 writeln!(stdout, "Corrupt ADC id: {:04X}", id).unwrap(),
         };
     }
+    adc.set_sync_enable(false).unwrap();
+    // SENS0_{P,N}
+    adc.setup_channel(0, ad7172::Input::Ain0, ad7172::Input::Ain1).unwrap();
+    // SENS1_{P,N}
+    adc.setup_channel(1, ad7172::Input::Ain2, ad7172::Input::Ain3).unwrap();
+
+    let init_state = ControlState {
+        report: None,
+        // Start with disengaged PID to let user setup parameters first
+        pid_enabled: false,
+        pid: pid::Controller::new(DEFAULT_PID_PARAMETERS.clone()),
+        sh: DEFAULT_SH_PARAMETERS.clone(),
+    };
+    let mut states = [init_state.clone(), init_state.clone()];
 
     let mut hardware_addr = EthernetAddress(board::get_mac_address());
+    writeln!(stdout, "MAC address: {}", hardware_addr).unwrap();
     if hardware_addr.is_multicast() {
-        println!("programmed MAC address is invalid, using default");
+        writeln!(stdout, "programmed MAC address is invalid, using default").unwrap();
         hardware_addr = EthernetAddress([0x10, 0xE2, 0xD5, 0x00, 0x03, 0x00]);
     }
     let mut ip_addrs = [IpCidr::new(IpAddress::v4(192, 168, 1, 26), 24)];
@@ -195,31 +249,37 @@ fn main() -> ! {
         (Session::new(), tcp_handle7),
     ];
 
-    let mut read_times = [0, 0];
-    let mut data = None;
-    // if a socket has sent the latest data
     loop {
-        let _ = adc.data_ready()
+        // ADC input
-            .and_then(|channel|
+        adc.data_ready()
-                channel.map(|channel|
+            .unwrap_or_else(|e| {
-                    adc.read_data().map(|new_data| {
+                writeln!(stdout, "ADC error: {:?}", e).unwrap();
+                None
+            }).map(|channel| {
                 let now = get_time();
-                        read_times[0] = read_times[1];
+                let data = adc.read_data().unwrap();
-                        read_times[1] = now;
+                let state = &mut states[usize::from(channel)];
-                        data = Some((now, Ok((channel, new_data))));
+                let voltage = VCC * (data as f32) / (0x7FFFFF as f32);
-                        for (session, _) in sessions_handles.iter_mut() {
+                let temperature = state.sh.get_temperature(voltage);
-                            session.set_report_pending();
+
+                let pwm_width = if state.pid_enabled {
+                    let width = state.pid.update(temperature) as u16;
+                    match channel {
+                        0 => tec0.set(TecPin::ISet, width, PWM_PID_WIDTH),
+                        1 => tec1.set(TecPin::ISet, width, PWM_PID_WIDTH),
+                        _ => unreachable!(),
                     }
-                    })
+                    Some(width)
-                ).unwrap_or(Ok(()))
+                } else {
-            )
+                    None
-            .map_err(|e| {
+                };
-                let now = get_time();
+
-                data = Some((now, Err(e)));
+                state.report = Some((now, data, temperature, pwm_width));
                 for (session, _) in sessions_handles.iter_mut() {
-                    session.set_report_pending();
+                    session.set_report_pending(channel.into());
                 }
             });
+
         for (session, tcp_handle) in sessions_handles.iter_mut() {
             let socket = &mut *sockets.get::<TcpSocket>(*tcp_handle);
             if !socket.is_open() {
@@ -231,20 +291,197 @@ fn main() -> ! {
             }
 
             if socket.may_recv() && socket.may_send() {
-                let command = socket.recv(|buf| session.feed(buf));
+                let output = socket.recv(|buf| session.feed(buf));
 
-                match command {
+                // TODO: use "{}" to display pretty errors
+                match output {
                     Ok(SessionOutput::Nothing) => {}
-                    Ok(SessionOutput::Command(Command::Quit)) =>
+                    Ok(SessionOutput::Command(command)) => match command {
+                        Command::Quit =>
                             socket.close(),
-                    Ok(SessionOutput::Command(Command::Report(mode))) => {
+                        Command::Reporting(reporting) => {
-                        let _ = writeln!(socket, "Report mode: {:?}", mode);
+                            let _ = writeln!(socket, "report={}", if reporting { "on" } else { "off" });
+                        }
+                        Command::Show(ShowCommand::Reporting) => {
+                            let _ = writeln!(socket, "report={}", if session.reporting() { "on" } else { "off" });
+                        }
+                        Command::Show(ShowCommand::Input) => {
+                            for (channel, state) in states.iter().enumerate() {
+                                state.report.map(|(time, data, temp, pwm_width)| {
+                                    let _ = write!(
+                                        socket, "t={} temp{}={} raw{}=0x{:06X}",
+                                        time, channel, temp, channel, data
+                                    );
+                                    pwm_width.map(|width| {
+                                        let _ = write!(
+                                            socket, " pwm{}=0x{:04X}",
+                                            channel, width
+                                        );
+                                    });
+                                    let _ = writeln!(socket, "");
+                                });
+                            }
+                        }
+                        Command::Show(ShowCommand::Pid) => {
+                            for (channel, state) in states.iter().enumerate() {
+                                let _ = writeln!(socket, "PID settings for channel {}", channel);
+                                let pid = &state.pid;
+                                let _ = writeln!(socket, "- target={:.4}", pid.get_target());
+                                let p = pid.get_parameters();
+                                macro_rules! out {
+                                    ($p: tt) => {
+                                        let _ = writeln!(socket, "- {}={:.4}", stringify!($p), p.$p);
+                                    };
+                                }
+                                out!(kp);
+                                out!(ki);
+                                out!(kd);
+                                out!(output_min);
+                                out!(output_max);
+                                out!(integral_min);
+                                out!(integral_max);
+                                let _ = writeln!(socket, "");
+                            }
+                        }
+                        Command::Show(ShowCommand::Pwm) => {
+                            for (channel, state) in states.iter().enumerate() {
+                                let _ = writeln!(
+                                    socket, "channel {}: PID={}",
+                                    channel,
+                                    if state.pid_enabled { "engaged" } else { "disengaged" }
+                                );
+                                for pin in TecPin::VALID_VALUES {
+                                    let (width, total) = match channel {
+                                        0 => tec0.get(*pin),
+                                        1 => tec1.get(*pin),
+                                        _ => unreachable!(),
+                                    };
+                                    let _ = writeln!(socket, "- {}={}/{}", pin, width, total);
+                                }
+                                let _ = writeln!(socket, "");
+                            }
+                        }
+                        Command::Show(ShowCommand::SteinhartHart) => {
+                            for (channel, state) in states.iter().enumerate() {
+                                let _ = writeln!(
+                                    socket, "channel {}: Steinhart-Hart equation parameters",
+                                    channel,
+                                );
+                                let _ = writeln!(socket, "- a={}", state.sh.a);
+                                let _ = writeln!(socket, "- b={}", state.sh.b);
+                                let _ = writeln!(socket, "- c={}", state.sh.c);
+                                let _ = writeln!(socket, "- parallel_r={}", state.sh.parallel_r);
+                                let _ = writeln!(socket, "");
+                            }
+                        }
+                        Command::Show(ShowCommand::PostFilter) => {
+                            for (channel, _) in states.iter().enumerate() {
+                                match adc.get_postfilter(channel as u8).unwrap() {
+                                    Some(filter) => {
+                                        let _ = writeln!(
+                                            socket, "channel {}: postfilter={:.2} SPS",
+                                            channel, filter.output_rate().unwrap()
+                                        );
+                                    }
+                                    None => {
+                                        let _ = writeln!(
+                                            socket, "channel {}: no postfilter",
+                                            channel
+                                        );
+                                    }
+                                }
+                            }
+                        }
+                        Command::Pwm { channel, setup: PwmSetup::ISet(PwmMode::Pid) } => {
+                            states[channel].pid_enabled = true;
+                            let _ = writeln!(socket, "channel {}: PID enabled to control PWM", channel);
+                        }
+                        Command::Pwm { channel, setup: PwmSetup::ISet(PwmMode::Manual(config))} => {
+                            states[channel].pid_enabled = false;
+                            let PwmConfig { width, total } = config;
+                            match channel {
+                                0 => tec0.set(TecPin::ISet, width, total),
+                                1 => tec1.set(TecPin::ISet, width, total),
+                                _ => unreachable!(),
+                            }
+                            let _ = writeln!(
+                                socket, "channel {}: PWM duty cycle manually set to {}/{}",
+                                channel, config.width, config.total
+                            );
+                        }
+                        Command::Pwm { channel, setup } => {
+                            let (pin, config) = match setup {
+                                PwmSetup::ISet(_) =>
+                                    // Handled above
+                                    unreachable!(),
+                                PwmSetup::MaxIPos(config) =>
+                                    (TecPin::MaxIPos, config),
+                                PwmSetup::MaxINeg(config) =>
+                                    (TecPin::MaxINeg, config),
+                                PwmSetup::MaxV(config) =>
+                                    (TecPin::MaxV, config),
+                            };
+                            let PwmConfig { width, total } = config;
+                            match channel {
+                                0 => tec0.set(pin, width, total),
+                                1 => tec1.set(pin, width, total),
+                                _ => unreachable!(),
+                            }
+                            let _ = writeln!(
+                                socket, "channel {}: PWM {} reconfigured to {}/{}",
+                                channel, pin, width, total
+                            );
+                        }
+                        Command::Pid { channel, parameter, value } => {
+                            let pid = &mut states[channel].pid;
+                            use command_parser::PidParameter::*;
+                            match parameter {
+                                Target =>
+                                    pid.set_target(value),
+                                KP =>
+                                    pid.update_parameters(|parameters| parameters.kp = value),
+                                KI =>
+                                    pid.update_parameters(|parameters| parameters.ki = value),
+                                KD =>
+                                    pid.update_parameters(|parameters| parameters.kd = value),
+                                OutputMin =>
+                                    pid.update_parameters(|parameters| parameters.output_min = value),
+                                OutputMax =>
+                                    pid.update_parameters(|parameters| parameters.output_max = value),
+                                IntegralMin =>
+                                    pid.update_parameters(|parameters| parameters.integral_min = value),
+                                IntegralMax =>
+                                    pid.update_parameters(|parameters| parameters.integral_max = value),
+                            }
+                            pid.reset();
+                            let _ = writeln!(socket, "PID parameter updated");
+                        }
+                        Command::SteinhartHart { channel, parameter, value } => {
+                            let sh = &mut states[channel].sh;
+                            use command_parser::ShParameter::*;
+                            match parameter {
+                                A => sh.a = value,
+                                B => sh.b = value,
+                                C => sh.c = value,
+                                ParallelR => sh.parallel_r = value,
+                            }
+                            let _ = writeln!(socket, "Steinhart-Hart equation parameter updated");
+                        }
+                        Command::PostFilter { channel, rate } => {
+                            let filter = ad7172::PostFilter::closest(rate);
+                            match filter {
+                                Some(filter) => {
+                                    adc.set_postfilter(channel as u8, Some(filter)).unwrap();
+                                    let _ = writeln!(
+                                        socket, "channel {}: postfilter set to {:.2} SPS",
+                                        channel, filter.output_rate().unwrap()
+                                    );
+                                }
+                                None => {
+                                    let _ = writeln!(socket, "Unable to choose postfilter");
+                                }
                             }
-                    Ok(SessionOutput::Command(Command::Show(ShowCommand::ReportMode))) => {
-                        let _ = writeln!(socket, "Report mode: {:?}", session.report_mode());
                         }
-                    Ok(SessionOutput::Command(command)) => {
-                        let _ = writeln!(socket, "Not implemented: {:?}", command);
                     }
                     Ok(SessionOutput::Error(e)) => {
                         let _ = writeln!(socket, "Command error: {:?}", e);
@@ -252,21 +489,23 @@ fn main() -> ! {
                     Err(_) => {}
                 }
             }
-            if socket.may_send() && session.is_report_pending() {
+            if socket.may_send() {
-                match &data {
+                if let Some(channel) = session.is_report_pending() {
-                    Some((time, Ok((channel, input)))) => {
+                    states[channel].report.map(|(time, data, temp, pwm_width)| {
-                        let interval = read_times[1] - read_times[0];
+                        let _ = write!(
-                        let _ = writeln!(socket, "t={}-{} channel={} input={}\r", time, interval, channel, input);
+                            socket, "t={} temp{}={} raw{}=0x{:06X}",
+                            time, channel, temp, channel, data
+                        );
+                        pwm_width.map(|width| {
+                            let _ = write!(
+                                socket, " pwm{}=0x{:04X}",
+                                channel, width
+                            );
+                        });
+                        let _ = writeln!(socket, "");
+                    });
+                    session.mark_report_sent(channel);
                 }
-                    Some((time, Err(ad7172::AdcError::ChecksumMismatch(Some(expected), Some(input))))) => {
-                        let _ = writeln!(socket, "t={} checksum_expected={:02X} checksum_input={:02X}\r", time, expected, input);
-                    }
-                    Some((time, Err(e))) => {
-                        let _ = writeln!(socket, "t={} adc_error={:?}\r", time, e);
-                    }
-                    None => {}
-                }
-                session.mark_report_sent();
             }
         }
         match iface.poll(&mut sockets, Instant::from_millis((get_time() / 1000) as i64)) {

firmware/src/pid.rs

@@ -9,6 +9,7 @@ pub struct Parameters {
     pub integral_max: f32
 }
 
+#[derive(Clone)]
 pub struct Controller {
     parameters: Parameters,
     target: f32,
@@ -56,13 +57,66 @@ impl Controller {
         output
     }
 
+    pub fn get_target(&self) -> f32 {
+        self.target
+    }
+
     pub fn set_target(&mut self, target: f32) {
         self.target = target;
     }
 
+    pub fn get_parameters(&self) -> &Parameters {
+        &self.parameters
+    }
+
+    pub fn update_parameters<F: FnOnce(&mut Parameters)>(&mut self, f: F) {
+        f(&mut self.parameters);
+    }
+
     #[allow(dead_code)]
     pub fn reset(&mut self) {
         self.integral = 0.0;
         self.last_input = None;
     }
 }
+
+#[cfg(test)]
+mod test {
+    use super::*;
+
+    const PARAMETERS: Parameters = Parameters {
+        kp: 0.055,
+        ki: 0.005,
+        kd: 0.04,
+        output_min: -10.0,
+        output_max: 10.0,
+        integral_min: -100.0,
+        integral_max: 100.0,
+    };
+
+    #[test]
+    fn test_controller() {
+        const DEFAULT: f32 = 0.0;
+        const TARGET: f32 = 1234.56;
+        const ERROR: f32 = 0.01;
+        const DELAY: usize = 10;
+
+        let mut pid = Controller::new(PARAMETERS.clone());
+        pid.set_target(TARGET);
+
+        let mut values = [DEFAULT; DELAY];
+        let mut t = 0;
+        let mut total_t = 0;
+        let target = (TARGET - ERROR)..=(TARGET + ERROR);
+        while !values.iter().all(|value| target.contains(value)) {
+            let next_t = (t + 1) % DELAY;
+            // Feed the oldest temperature
+            let output = pid.update(values[next_t]);
+            // Overwrite oldest with previous temperature + output
+            values[next_t] = values[t] + output;
+            t = next_t;
+            total_t += 1;
+        }
+        dbg!(values[t], total_t);
+    }
+}

firmware/src/session.rs

@@ -1,5 +1,6 @@
+use core::ops::Deref;
 use super::command_parser::{Command, Error as ParserError};
-
+use super::CHANNELS;
 
 const MAX_LINE_LEN: usize = 64;
 
@@ -16,13 +17,16 @@ impl LineReader {
         }
     }
 
-    pub fn feed(&mut self, c: u8) -> Option<&str> {
+    pub fn feed(&mut self, c: u8) -> Option<LineResult> {
         if c == 13 || c == 10 {
             // Enter
             if self.pos > 0 {
                 let len = self.pos;
                 self.pos = 0;
-                core::str::from_utf8(&self.buf[..len]).ok()
+                Some(LineResult {
+                    buf: self.buf.clone(),
+                    len,
+                })
             } else {
                 None
             }
@@ -38,11 +42,16 @@ impl LineReader {
     }
 }
 
-#[derive(Debug, Clone, Copy)]
+pub struct LineResult {
-pub enum ReportMode {
+    buf: [u8; MAX_LINE_LEN],
-    Off,
+    len: usize,
-    Once,
+}
-    Continuous,
+
+impl Deref for LineResult {
+    type Target = [u8];
+    fn deref(&self) -> &Self::Target {
+        &self.buf[..self.len]
+    }
 }
 
 pub enum SessionOutput {
@@ -60,16 +69,16 @@ impl From<Result<Command, ParserError>> for SessionOutput {
 
 pub struct Session {
     reader: LineReader,
-    report_mode: ReportMode,
+    reporting: bool,
-    report_pending: bool,
+    report_pending: [bool; CHANNELS],
 }
 
 impl Session {
     pub fn new() -> Self {
         Session {
             reader: LineReader::new(),
-            report_mode: ReportMode::Off,
+            reporting: false,
-            report_pending: false,
+            report_pending: [false; CHANNELS],
         }
     }
 
@@ -77,40 +86,45 @@ impl Session {
         self.reader.pos > 0
     }
 
-    pub fn report_mode(&self) -> ReportMode {
+    pub fn reporting(&self) -> bool {
-        self.report_mode
+        self.reporting
     }
 
-    pub fn set_report_pending(&mut self) {
+    pub fn set_report_pending(&mut self, channel: usize) {
-        self.report_pending = true;
+        if self.reporting {
-    }
+            self.report_pending[channel] = true;
-
-    pub fn is_report_pending(&self) -> bool {
-        match self.report_mode {
-            ReportMode::Off => false,
-            _ => self.report_pending,
         }
     }
 
-    pub fn mark_report_sent(&mut self) {
+    pub fn is_report_pending(&self) -> Option<usize> {
-        self.report_pending = false;
+        if ! self.reporting {
-        match self.report_mode {
+            None
-            ReportMode::Once =>
+        } else {
-                self.report_mode = ReportMode::Off,
+            self.report_pending.iter()
-            _ => {}
+                .enumerate()
+                .fold(None, |result, (channel, report_pending)| {
+                    result.or_else(|| {
+                        if *report_pending { Some(channel) } else { None }
+                    })
+                })
         }
     }
 
+    pub fn mark_report_sent(&mut self, channel: usize) {
+        self.report_pending[channel] = false;
+    }
+
     pub fn feed(&mut self, buf: &[u8]) -> (usize, SessionOutput) {
         let mut buf_bytes = 0;
         for (i, b) in buf.iter().enumerate() {
             buf_bytes = i + 1;
-            match self.reader.feed(*b) {
+            let line = self.reader.feed(*b);
+            match line {
                 Some(line) => {
-                    let command = Command::parse(line);
+                    let command = Command::parse(&line);
                     match command {
-                        Ok(Command::Report(mode)) => {
+                        Ok(Command::Reporting(reporting)) => {
-                            self.report_mode = mode;
+                            self.reporting = reporting;
                         }
                         _ => {}
                     }

firmware/src/steinhart_hart.rs

@@ -0,0 +1,30 @@
+use libm::F32Ext;
+
+/// Steinhart-Hart equation parameters
+#[derive(Clone, Debug)]
+pub struct Parameters {
+    pub a: f32,
+    pub b: f32,
+    pub c: f32,
+    /// Parallel resistance
+    ///
+    /// Not truly part of the equation but required to calculate
+    /// resistance from voltage.
+    pub parallel_r: f32,
+}
+
+impl Parameters {
+    /// Perform the voltage to temperature conversion.
+    ///
+    /// Result unit: Kelvin
+    ///
+    /// TODO: verify
+    pub fn get_temperature(&self, voltage: f32) -> f32 {
+        let r = self.parallel_r * voltage;
+        let ln_r = r.abs().ln();
+        let inv_temp = self.a +
+            self.b * ln_r +
+            self.c * ln_r * ln_r * ln_r;
+        1.0 / inv_temp
+    }
+}

firmware/src/tec.rs

@@ -0,0 +1,128 @@
+use core::fmt;
+use crate::board::pwm::{self, PwmChannel, PwmPeripheral};
+use crate::board::gpio::{Gpio, GpioOutput, PP2, PP3, PK1, PQ4};
+use embedded_hal::digital::v2::OutputPin;
+
+#[derive(Clone, Copy, Debug)]
+pub enum TecPin {
+    ISet,
+    MaxIPos,
+    MaxINeg,
+    MaxV,
+}
+
+impl TecPin {
+    pub const VALID_VALUES: &'static [TecPin] = &[
+        TecPin::ISet,
+        TecPin::MaxIPos,
+        TecPin::MaxINeg,
+        TecPin::MaxV,
+    ];
+}
+
+impl fmt::Display for TecPin {
+    fn fmt(&self, fmt: &mut fmt::Formatter) -> Result<(), fmt::Error> {
+        match self {
+            TecPin::ISet =>
+                "i_set".fmt(fmt),
+            TecPin::MaxIPos =>
+                "max_i_pos".fmt(fmt),
+            TecPin::MaxINeg =>
+                "max_i_neg".fmt(fmt),
+            TecPin::MaxV =>
+                "max_v".fmt(fmt),
+        }
+    }
+}
+
+fn setup_shdn<G>(gpio: G) -> GpioOutput<G>
+where
+    G: Gpio,
+    GpioOutput<G>: OutputPin,
+{
+    let mut pin = gpio.into_output();
+    // keep off until first use
+    let _ = pin.set_low();
+    pin
+}
+
+fn setup_freq<G>(gpio: G)
+where
+    G: Gpio,
+    GpioOutput<G>: OutputPin,
+{
+    let mut pin = gpio.into_output();
+    // Switching Frequency Select
+    // high: 1 MHz, low: 500 kHz
+    let _ = pin.set_high();
+}
+
+/// Thermo-Electric Cooling device controlled through four PWM
+/// channels
+pub struct Tec<MaxIPos: PwmChannel, MaxINeg: PwmChannel, ISet: PwmChannel, MaxV: PwmChannel, SHDN: OutputPin> {
+    max_i_pos: MaxIPos,
+    max_i_neg: MaxINeg,
+    i_set: ISet,
+    max_v: MaxV,
+    shdn: SHDN,
+}
+
+impl Tec<pwm::T2CCP0, pwm::T2CCP1, pwm::T3CCP0, pwm::T3CCP1, GpioOutput<PP2>> {
+    pub fn tec0() -> Self {
+        let (max_i_pos, max_i_neg) = tm4c129x::TIMER2::split();
+        let (i_set, max_v) = tm4c129x::TIMER3::split();
+        let shdn = setup_shdn(PP2);
+        setup_freq(PK1);
+        Tec { max_i_pos, max_i_neg, i_set, max_v, shdn }
+    }
+}
+
+impl Tec<pwm::T4CCP0, pwm::T4CCP1, pwm::T5CCP0, pwm::T5CCP1, GpioOutput<PP3>> {
+    pub fn tec1() -> Self {
+        let (max_i_pos, max_i_neg) = tm4c129x::TIMER4::split();
+        let (i_set, max_v) = tm4c129x::TIMER5::split();
+        let shdn = setup_shdn(PP3);
+        setup_freq(PQ4);
+        Tec { max_i_pos, max_i_neg, i_set, max_v, shdn }
+    }
+}
+
+
+impl<MaxIPos: PwmChannel, MaxINeg: PwmChannel, ISet: PwmChannel, MaxV: PwmChannel, SHDN: OutputPin> Tec<MaxIPos, MaxINeg, ISet, MaxV, SHDN> {
+    pub fn setup(mut self, iset_width: u16, max: u16) -> Self {
+        self.max_i_pos.set(max, max);
+        self.max_i_neg.set(max, max);
+        self.max_v.set(max, max);
+        self.i_set.set(iset_width, max);
+        self
+    }
+
+    pub fn get(&mut self, pin: TecPin) -> (u16, u16) {
+        match pin {
+            TecPin::MaxIPos =>
+                self.max_i_pos.get(),
+            TecPin::MaxINeg =>
+                self.max_i_neg.get(),
+            TecPin::ISet =>
+                self.i_set.get(),
+            TecPin::MaxV =>
+                self.max_v.get(),
+        }
+    }
+
+    pub fn set(&mut self, pin: TecPin, width: u16, total: u16) {
+        match pin {
+            TecPin::MaxIPos =>
+                self.max_i_pos.set(width, total),
+            TecPin::MaxINeg =>
+                self.max_i_neg.set(width, total),
+            TecPin::ISet => {
+                self.i_set.set(width, total);
+                // enable on first use
+                let _ = self.shdn.set_high();
+            }
+            TecPin::MaxV =>
+                self.max_v.set(width, total),
+        }
+    }
+}

shell.nix

@@ -12,14 +12,17 @@ stdenv.mkDerivation {
   buildInputs = with rustPlatform.rust; [
     rustc cargo cargo-xbuild
     rustcSrc
+    pkgsCross.arm-embedded.stdenv.cc
     openocd
   ];
 
   # Set Environment Variables
   RUST_BACKTRACE = 1;
   XARGO_RUST_SRC = "${rustcSrc}/src";
+  RUST_COMPILER_RT_ROOT = "${rustcSrc}/src/llvm-project/compiler-rt";
 
   shellHook = ''
+    cd firmware
     echo "Run 'cargo xbuild --release' to build."
   '';
 }