forked from M-Labs/ionpak-thermostat
Compare commits
77 Commits
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| 3fd1b2265d |
15156
channel-rust-nightly.toml
Normal file
15156
channel-rust-nightly.toml
Normal file
File diff suppressed because it is too large
Load Diff
49
default.nix
49
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
|
||||
rev = "b3146549abf25818fecfc7555f35358a948e27ad";
|
||||
sha256 = "1db3g1iq6ba5pdasffay1bpywdibv83z5nwp2dzi0fxvz5bqx1gi";
|
||||
# master of 2019-11-09
|
||||
rev = "ac162c6abe34cdf965afc0389f6cefa79653c63b";
|
||||
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;
|
||||
}
|
||||
|
||||
278
firmware/Cargo.lock
generated
278
firmware/Cargo.lock
generated
@ -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"
|
||||
version = "0.1.8"
|
||||
name = "cc"
|
||||
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"
|
||||
version = "0.5.10"
|
||||
name = "cfg-if"
|
||||
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)",
|
||||
"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)",
|
||||
"cc 1.0.47 (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)",
|
||||
"quote 0.6.13 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"proc-macro2 1.0.6 (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"
|
||||
version = "1.0.0"
|
||||
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"
|
||||
name = "lexical-core"
|
||||
version = "0.6.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cfg-if 0.1.10 (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"
|
||||
version = "0.4.30"
|
||||
name = "nom"
|
||||
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 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
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@ -290,12 +260,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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|
||||
"checksum walkdir 1.0.7 (registry+https://github.com/rust-lang/crates.io-index)" = "bb08f9e670fab86099470b97cd2b252d6527f0b3cc1401acdb595ffc9dd288ff"
|
||||
"checksum winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)" = "167dc9d6949a9b857f3451275e911c3f44255842c1f7a76f33c55103a909087a"
|
||||
"checksum winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "2d315eee3b34aca4797b2da6b13ed88266e6d612562a0c46390af8299fc699bc"
|
||||
"checksum walkdir 2.2.9 (registry+https://github.com/rust-lang/crates.io-index)" = "9658c94fa8b940eab2250bd5a457f9c48b748420d71293b165c8cdbe2f55f71e"
|
||||
"checksum winapi 0.3.8 (registry+https://github.com/rust-lang/crates.io-index)" = "8093091eeb260906a183e6ae1abdba2ef5ef2257a21801128899c3fc699229c6"
|
||||
"checksum winapi-i686-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
|
||||
"checksum winapi-util 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)" = "7168bab6e1daee33b4557efd0e95d5ca70a03706d39fa5f3fe7a236f584b03c9"
|
||||
"checksum winapi-x86_64-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
|
||||
|
||||
@ -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"
|
||||
cortex-m = { version = "0.5", features = ["const-fn"] }
|
||||
libm = "0.1.4"
|
||||
cortex-m = { version = "0.6", features = ["const-fn"] }
|
||||
cortex-m-rt = "0.6"
|
||||
crc = { version = "1.7", default-features = false }
|
||||
tm4c129x = { version = "0.8", features = ["rt"] }
|
||||
crc = { version = "~1", default-features = false }
|
||||
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"] }
|
||||
alloc-cortex-m = "0.3"
|
||||
lexical-core = { version = "~0.6", default-features = false }
|
||||
nom = { version = "~5", default-features = false }
|
||||
|
||||
[dependencies.smoltcp]
|
||||
git = "https://github.com/m-labs/smoltcp"
|
||||
rev = "cd893e6"
|
||||
features = ["proto-ipv4", "socket-tcp"]
|
||||
git = "https://github.com/m-labs/smoltcp.git"
|
||||
rev = "8eb01aca364aefe5f823d68d552d62c76c9be4a3"
|
||||
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
|
||||
|
||||
75
firmware/README.md
Normal file
75
firmware/README.md
Normal file
@ -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 |
|
||||
@ -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::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();
|
||||
}
|
||||
use std::path::PathBuf;
|
||||
|
||||
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();
|
||||
}
|
||||
|
||||
@ -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(®s::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(®s::IfMode)?;
|
||||
ifmode.set_crc(mode);
|
||||
self.checksum_mode = mode;
|
||||
self.write_reg(&IfMode, &mut ifmode)?;
|
||||
self.write_reg(®s::IfMode, &mut ifmode)?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
// pub fn setup(&mut self) -> Result<(), SPI::Error> {
|
||||
// let mut buf = [0, 0, 0];
|
||||
// adc.write_reg(Register::AdcMode, &mut buf)?;
|
||||
// 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)?;
|
||||
pub fn set_sync_enable(&mut self, enable: bool) -> Result<(), AdcError<SPI::Error>> {
|
||||
self.update_reg(®s::GpioCon, |data| {
|
||||
data.set_sync_en(enable);
|
||||
})
|
||||
}
|
||||
|
||||
// Ok(())
|
||||
// }
|
||||
pub fn setup_channel(
|
||||
&mut self, index: u8, in_pos: Input, in_neg: Input
|
||||
) -> Result<(), AdcError<SPI::Error>> {
|
||||
self.update_reg(®s::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(®s::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(®s::Offset { index }, &mut offset);
|
||||
self.update_reg(®s::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(®s::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(®s::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(®s::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>> {
|
||||
self.read_reg(&Data)
|
||||
pub fn read_data(&mut self) -> Result<i32, AdcError<SPI::Error>> {
|
||||
self.read_reg(®s::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)?;
|
||||
|
||||
@ -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 {
|
||||
|
||||
@ -39,12 +39,12 @@ macro_rules! def_reg {
|
||||
}
|
||||
}
|
||||
};
|
||||
($Reg: ident, $index: ty, $reg: ident, $addr: expr, $size: expr) => {
|
||||
struct $Reg { pub index: $index, }
|
||||
($Reg: ident, u8, $reg: ident, $addr: expr, $size: expr) => {
|
||||
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!(refbuf_pos, set_refbuf_pos, 0, 5, "Enable REF+ input buffer");
|
||||
reg_bit!(refbuf_neg, set_refbuf_neg, 0, 5, "Enable REF- input buffer");
|
||||
reg_bit!(ainbuf_pos, set_ainbuf_pos, 0, 3, "Enable AIN+ input buffer");
|
||||
reg_bit!(ainbuf_neg, set_ainbuf_neg, 0, 2, "Enable AIN- input buffer");
|
||||
reg_bit!(bipolar, set_bipolar, 0, 4, "Unipolar (`false`) or bipolar (`true`) coded output");
|
||||
reg_bit!(refbuf_pos, set_refbuf_pos, 0, 3, "Enable REF+ input buffer");
|
||||
reg_bit!(refbuf_neg, set_refbuf_neg, 0, 2, "Enable REF- input buffer");
|
||||
reg_bit!(ainbuf_pos, set_ainbuf_pos, 0, 1, "Enable AIN+ input buffer");
|
||||
reg_bit!(ainbuf_neg, set_ainbuf_neg, 0, 0, "Enable AIN- input buffer");
|
||||
reg_bit!(burnout_en, 1, 7, "enables a 10 µA current source on the positive analog input selected and a 10 µA current sink on the negative analog input selected");
|
||||
reg_bits!(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;
|
||||
|
||||
@ -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);
|
||||
|
||||
@ -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::$T::ptr() };
|
||||
timer.cfg.write(|w| unsafe { w.bits(4) });
|
||||
timer.tamr.modify(|_, w| unsafe {
|
||||
w
|
||||
.taams().bit(true)
|
||||
.tacmr().bit(false)
|
||||
.tamr().bits(2)
|
||||
});
|
||||
timer.tbmr.modify(|_, w| unsafe {
|
||||
w
|
||||
.tbams().bit(true)
|
||||
.tbcmr().bit(false)
|
||||
.tbmr().bits(2)
|
||||
});
|
||||
timer.ctl.modify(|_, w| {
|
||||
w
|
||||
.tapwml().bit(false)
|
||||
.tbpwml().bit(false)
|
||||
});
|
||||
// no prescaler
|
||||
// no interrupts
|
||||
timer.tailr.write(|w| unsafe { w.bits(0xFFFF) });
|
||||
timer.tbilr.write(|w| unsafe { w.bits(0xFFFF) });
|
||||
timer.tamatchr.write(|w| unsafe { w.bits(0x8000) });
|
||||
timer.tbmatchr.write(|w| unsafe { w.bits(0x8000) });
|
||||
timer.ctl.modify(|_, w| {
|
||||
w
|
||||
.taen().bit(true)
|
||||
.tben().bit(true)
|
||||
});
|
||||
)
|
||||
}
|
||||
setup_timer_pwm!(TIMER2);
|
||||
setup_timer_pwm!(TIMER3);
|
||||
setup_timer_pwm!(TIMER4);
|
||||
setup_timer_pwm!(TIMER5);
|
||||
|
||||
systick::init(cs);
|
||||
});
|
||||
}
|
||||
|
||||
138
firmware/src/board/pwm.rs
Normal file
138
firmware/src/board/pwm.rs
Normal file
@ -0,0 +1,138 @@
|
||||
use tm4c129x::{
|
||||
TIMER2, TIMER3, TIMER4, TIMER5,
|
||||
};
|
||||
|
||||
pub struct T2CCP0;
|
||||
pub struct T2CCP1;
|
||||
pub struct T3CCP0;
|
||||
pub struct T3CCP1;
|
||||
pub struct T4CCP0;
|
||||
pub struct T4CCP1;
|
||||
pub struct T5CCP0;
|
||||
pub struct T5CCP1;
|
||||
|
||||
pub trait PwmPeripheral {
|
||||
type ChannelA: PwmChannel;
|
||||
type ChannelB: PwmChannel;
|
||||
fn split() -> (Self::ChannelA, Self::ChannelB);
|
||||
}
|
||||
|
||||
macro_rules! pwm_peripheral {
|
||||
($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);
|
||||
@ -1,121 +1,533 @@
|
||||
use logos::Logos;
|
||||
use super::session::ReportMode;
|
||||
use core::fmt;
|
||||
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"]
|
||||
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)]
|
||||
#[derive(Clone, Debug, PartialEq)]
|
||||
pub enum Error {
|
||||
Parser,
|
||||
UnexpectedEnd,
|
||||
UnexpectedToken(Token),
|
||||
NoSuchChannel,
|
||||
Parser(ErrorKind),
|
||||
Incomplete,
|
||||
UnexpectedInput(u8),
|
||||
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)]
|
||||
pub enum ChannelCommand {
|
||||
Enable,
|
||||
Disable,
|
||||
#[derive(Debug, Clone, PartialEq)]
|
||||
pub enum PidParameter {
|
||||
Target,
|
||||
KP,
|
||||
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),
|
||||
Channel(u8, ChannelCommand),
|
||||
Reporting(bool),
|
||||
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] = &[
|
||||
"0", "1", "2", "3",
|
||||
];
|
||||
fn end(input: &[u8]) -> IResult<&[u8], ()> {
|
||||
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> {
|
||||
let mut lexer = Token::lexer(input);
|
||||
|
||||
macro_rules! choice {
|
||||
[$($token: tt => $block: stmt,)*] => {
|
||||
match lexer.token {
|
||||
$(
|
||||
Token::$token => {
|
||||
lexer.advance();
|
||||
$block
|
||||
}
|
||||
)*
|
||||
Token::End => Err(Error::UnexpectedEnd),
|
||||
_ => Err(Error::UnexpectedToken(lexer.token))
|
||||
pub fn parse(input: &[u8]) -> Result<Self, Error> {
|
||||
match command(input) {
|
||||
Ok((b"", result)) =>
|
||||
result,
|
||||
Ok((input_remain, _)) =>
|
||||
Err(Error::UnexpectedInput(input_remain[0])),
|
||||
Err(e) =>
|
||||
Err(e.into()),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
choice![
|
||||
Quit => Ok(Command::Quit),
|
||||
Report => choice![
|
||||
Mode => choice![
|
||||
End => Ok(Command::Show(ShowCommand::ReportMode)),
|
||||
Off => Ok(Command::Report(ReportMode::Off)),
|
||||
Once => Ok(Command::Report(ReportMode::Once)),
|
||||
Continuous => Ok(Command::Report(ReportMode::Continuous)),
|
||||
],
|
||||
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
|
||||
)),
|
||||
]
|
||||
#[cfg(test)]
|
||||
mod test {
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
fn parse_quit() {
|
||||
let command = Command::parse(b"quit");
|
||||
assert_eq!(command, Ok(Command::Quit));
|
||||
}
|
||||
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,
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
@ -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;
|
||||
slice::from_raw_parts(addr, len)
|
||||
let addr = self.desc_buf[self.cur_desc + 2] as *mut u8;
|
||||
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
|
||||
|
||||
@ -1,17 +1,14 @@
|
||||
#![feature(const_fn)]
|
||||
#![feature(alloc_error_handler)]
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
#![feature(const_fn, proc_macro_hygiene)]
|
||||
#![cfg_attr(not(test), no_std)]
|
||||
#![cfg_attr(not(test), no_main)]
|
||||
|
||||
extern crate alloc;
|
||||
use cortex_m_rt::{entry, heap_start};
|
||||
use cortex_m_rt::entry;
|
||||
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) =>
|
||||
writeln!(stdout, "Corrupt ADC id: {:04X}", id).unwrap(),
|
||||
Ok(_id) => {
|
||||
// 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()
|
||||
.and_then(|channel|
|
||||
channel.map(|channel|
|
||||
adc.read_data().map(|new_data| {
|
||||
// ADC input
|
||||
adc.data_ready()
|
||||
.unwrap_or_else(|e| {
|
||||
writeln!(stdout, "ADC error: {:?}", e).unwrap();
|
||||
None
|
||||
}).map(|channel| {
|
||||
let now = get_time();
|
||||
read_times[0] = read_times[1];
|
||||
read_times[1] = now;
|
||||
data = Some((now, Ok((channel, new_data))));
|
||||
for (session, _) in sessions_handles.iter_mut() {
|
||||
session.set_report_pending();
|
||||
let data = adc.read_data().unwrap();
|
||||
let state = &mut states[usize::from(channel)];
|
||||
let voltage = VCC * (data as f32) / (0x7FFFFF as f32);
|
||||
let temperature = state.sh.get_temperature(voltage);
|
||||
|
||||
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!(),
|
||||
}
|
||||
})
|
||||
).unwrap_or(Ok(()))
|
||||
)
|
||||
.map_err(|e| {
|
||||
let now = get_time();
|
||||
data = Some((now, Err(e)));
|
||||
Some(width)
|
||||
} else {
|
||||
None
|
||||
};
|
||||
|
||||
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))) => {
|
||||
let _ = writeln!(socket, "Report mode: {:?}", mode);
|
||||
Command::Reporting(reporting) => {
|
||||
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() {
|
||||
match &data {
|
||||
Some((time, Ok((channel, input)))) => {
|
||||
let interval = read_times[1] - read_times[0];
|
||||
let _ = writeln!(socket, "t={}-{} channel={} input={}\r", time, interval, channel, input);
|
||||
if socket.may_send() {
|
||||
if let Some(channel) = session.is_report_pending() {
|
||||
states[channel].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, "");
|
||||
});
|
||||
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)) {
|
||||
|
||||
@ -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);
|
||||
}
|
||||
}
|
||||
|
||||
@ -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 enum ReportMode {
|
||||
Off,
|
||||
Once,
|
||||
Continuous,
|
||||
pub struct LineResult {
|
||||
buf: [u8; MAX_LINE_LEN],
|
||||
len: usize,
|
||||
}
|
||||
|
||||
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,
|
||||
report_pending: bool,
|
||||
reporting: bool,
|
||||
report_pending: [bool; CHANNELS],
|
||||
}
|
||||
|
||||
impl Session {
|
||||
pub fn new() -> Self {
|
||||
Session {
|
||||
reader: LineReader::new(),
|
||||
report_mode: ReportMode::Off,
|
||||
report_pending: false,
|
||||
reporting: false,
|
||||
report_pending: [false; CHANNELS],
|
||||
}
|
||||
}
|
||||
|
||||
@ -77,40 +86,45 @@ impl Session {
|
||||
self.reader.pos > 0
|
||||
}
|
||||
|
||||
pub fn report_mode(&self) -> ReportMode {
|
||||
self.report_mode
|
||||
pub fn reporting(&self) -> bool {
|
||||
self.reporting
|
||||
}
|
||||
|
||||
pub fn set_report_pending(&mut self) {
|
||||
self.report_pending = true;
|
||||
}
|
||||
|
||||
pub fn is_report_pending(&self) -> bool {
|
||||
match self.report_mode {
|
||||
ReportMode::Off => false,
|
||||
_ => self.report_pending,
|
||||
pub fn set_report_pending(&mut self, channel: usize) {
|
||||
if self.reporting {
|
||||
self.report_pending[channel] = true;
|
||||
}
|
||||
}
|
||||
|
||||
pub fn mark_report_sent(&mut self) {
|
||||
self.report_pending = false;
|
||||
match self.report_mode {
|
||||
ReportMode::Once =>
|
||||
self.report_mode = ReportMode::Off,
|
||||
_ => {}
|
||||
pub fn is_report_pending(&self) -> Option<usize> {
|
||||
if ! self.reporting {
|
||||
None
|
||||
} else {
|
||||
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)) => {
|
||||
self.report_mode = mode;
|
||||
Ok(Command::Reporting(reporting)) => {
|
||||
self.reporting = reporting;
|
||||
}
|
||||
_ => {}
|
||||
}
|
||||
|
||||
30
firmware/src/steinhart_hart.rs
Normal file
30
firmware/src/steinhart_hart.rs
Normal file
@ -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
|
||||
}
|
||||
}
|
||||
128
firmware/src/tec.rs
Normal file
128
firmware/src/tec.rs
Normal file
@ -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),
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -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."
|
||||
'';
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user