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Merge branch 'rs/issue-276/unique-identifiers' into feature/telemetry

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This commit is contained in:
Ryan Summers 2021-04-20 13:46:37 +02:00
commit 1c9f30b4d5
9 changed files with 264 additions and 125 deletions
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9
Cargo.lock generated
View File

@ -437,6 +437,12 @@ dependencies = [
"heapless 0.6.1",
]
[[package]]
name = "nanorand"
version = "0.5.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ac1378b66f7c93a1c0f8464a19bf47df8795083842e5090f4b7305973d5a22d0"
[[package]]
name = "nb"
version = "0.1.3"
@ -710,10 +716,11 @@ dependencies = [
[[package]]
name = "smoltcp-nal"
version = "0.1.0"
source = "git+https://github.com/quartiq/smoltcp-nal.git?rev=56519012d7#56519012d7c6a382eaa0d7ecb26f2701771d9ce8"
source = "git+https://github.com/quartiq/smoltcp-nal.git?rev=8468f11#8468f11abacd7aba82454e6904df19c1d1ab91bb"
dependencies = [
"embedded-nal",
"heapless 0.6.1",
"nanorand",
"smoltcp",
]

2
Cargo.toml
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@ -60,7 +60,7 @@ rev = "314fa5587d"
[dependencies.smoltcp-nal]
git = "https://github.com/quartiq/smoltcp-nal.git"
rev = "56519012d7"
rev = "8468f11"
[patch.crates-io.minimq]
git = "https://github.com/quartiq/minimq.git"

7
hitl/run.sh
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@ -17,6 +17,9 @@ python3 -m pip install -r requirements.txt
cargo flash --elf target/thumbv7em-none-eabihf/release/dual-iir --chip STM32H743ZITx
# Before attempting to ping the device, sleep to allow Stabilizer to boot.
sleep 30
# Test pinging Stabilizer. This exercises that:
# * DHCP is functional and an IP has been acquired
# * Stabilizer's network is functioning as intended
@ -24,6 +27,6 @@ cargo flash --elf target/thumbv7em-none-eabihf/release/dual-iir --chip STM32H743
ping -c 5 -w 20 stabilizer-hitl
# Test the MQTT interface.
python3 miniconf.py dt/sinara/stabilizer afe/0='"G2"'
python3 miniconf.py dt/sinara/stabilizer afe/0='"G1"' iir_ch/0/0=\
python3 miniconf.py dt/sinara/dual-iir/04-91-62-d9-7e-5f afe/0='"G2"'
python3 miniconf.py dt/sinara/dual-iir/04-91-62-d9-7e-5f afe/0='"G1"' iir_ch/0/0=\
'{"y_min": -32767, "y_max": 32767, "y_offset": 0, "ba": [1.0, 0, 0, 0, 0]}'

107
src/bin/dual-iir.rs
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@ -2,17 +2,19 @@
#![no_std]
#![no_main]
use stabilizer::hardware;
use stabilizer::{hardware, net};
use miniconf::{minimq, Miniconf, MqttInterface};
use miniconf::{minimq, Miniconf};
use serde::{Deserialize, Serialize};
use dsp::iir;
use hardware::{
Adc0Input, Adc1Input, AfeGain, CycleCounter, Dac0Output, Dac1Output,
DigitalInput0, DigitalInput1, SystemTimer, InputPin, NetworkStack, AFE0, AFE1,
Adc0Input, Adc1Input, AfeGain, Dac0Output, Dac1Output, DigitalInput0,
DigitalInput1, InputPin, SystemTimer, AFE0, AFE1,
};
use net::{Action, MiniconfInterface};
const SCALE: f32 = i16::MAX as _;
// The number of cascaded IIR biquads per channel. Select 1 or 2!
@ -63,11 +65,9 @@ const APP: () = {
digital_inputs: (DigitalInput0, DigitalInput1),
adcs: (Adc0Input, Adc1Input),
dacs: (Dac0Output, Dac1Output),
mqtt_interface:
MqttInterface<Settings, NetworkStack, minimq::consts::U256>,
mqtt_config: MiniconfInterface<Settings>,
telemetry: Telemetry,
settings: Settings,
clock: CycleCounter,
// Format: iir_state[ch][cascade-no][coeff]
#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
@ -79,23 +79,16 @@ const APP: () = {
// Configure the microcontroller
let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
let mqtt_interface = {
let mqtt_client = {
minimq::MqttClient::new(
hardware::design_parameters::MQTT_BROKER.into(),
"",
stabilizer.net.stack,
)
.unwrap()
};
MqttInterface::new(
mqtt_client,
"dt/sinara/stabilizer",
Settings::default(),
)
.unwrap()
};
let mqtt_config = MiniconfInterface::new(
stabilizer.net.stack,
"",
&net::get_device_prefix(
env!("CARGO_BIN_NAME"),
stabilizer.net.mac_address,
),
stabilizer.net.phy,
stabilizer.cycle_counter,
);
// Spawn a settings update for default settings.
c.spawn.settings_update().unwrap();
@ -111,13 +104,12 @@ const APP: () = {
stabilizer.adc_dac_timer.start();
init::LateResources {
mqtt_interface,
afes: stabilizer.afes,
adcs: stabilizer.adcs,
dacs: stabilizer.dacs,
clock: stabilizer.cycle_counter,
telemetry: Telemetry::default(),
digital_inputs: stabilizer.digital_inputs,
mqtt_config,
settings: Settings::default(),
}
}
@ -186,44 +178,26 @@ const APP: () = {
];
}
#[idle(resources=[mqtt_interface, clock], spawn=[settings_update])]
#[idle(resources=[mqtt_config], spawn=[settings_update])]
fn idle(mut c: idle::Context) -> ! {
let clock = c.resources.clock;
loop {
let sleep = c.resources.mqtt_interface.lock(|interface| {
match interface.network_stack().poll(clock.current_ms()) {
Ok(updated) => !updated,
Err(err) => {
log::info!("Network error: {:?}", err);
false
}
}
});
match c
.resources
.mqtt_interface
.lock(|interface| interface.update())
.mqtt_config
.lock(|config_interface| config_interface.update())
{
Ok(update) => {
if update {
c.spawn.settings_update().unwrap();
} else if sleep {
//cortex_m::asm::wfi();
}
Some(Action::Sleep) => cortex_m::asm::wfi(),
Some(Action::UpdateSettings) => {
c.spawn.settings_update().unwrap()
}
Err(miniconf::MqttError::Network(
smoltcp_nal::NetworkError::NoIpAddress,
)) => {}
Err(error) => log::info!("Unexpected error: {:?}", error),
_ => {}
}
}
}
#[task(priority = 1, resources=[mqtt_interface, afes, settings])]
#[task(priority = 1, resources=[mqtt_config, afes, settings])]
fn settings_update(mut c: settings_update::Context) {
let settings = &c.resources.mqtt_interface.settings;
let settings = &c.resources.mqtt_config.mqtt.settings;
// Update the IIR channels.
c.resources.settings.lock(|current| *current = *settings);
@ -233,9 +207,10 @@ const APP: () = {
c.resources.afes.1.set_gain(settings.afe[1]);
}
#[task(priority = 1, resources=[mqtt_interface, settings, telemetry], schedule=[telemetry])]
#[task(priority = 1, resources=[mqtt_config, settings, telemetry], schedule=[telemetry])]
fn telemetry(mut c: telemetry::Context) {
let telemetry = c.resources.telemetry.lock(|telemetry| telemetry.clone());
let telemetry =
c.resources.telemetry.lock(|telemetry| telemetry.clone());
// Serialize telemetry outside of a critical section to prevent blocking the processing
// task.
@ -245,15 +220,29 @@ const APP: () = {
>(&telemetry)
.unwrap();
c.resources.mqtt_interface.client(|client| {
c.resources.mqtt_config.mqtt.client(|client| {
// TODO: Incorporate current MQTT prefix instead of hard-coded value.
client.publish("dt/sinara/dual-iir/telemetry", telemetry.as_bytes(), minimq::QoS::AtMostOnce, &[]).ok()
client
.publish(
"dt/sinara/dual-iir/telemetry",
telemetry.as_bytes(),
minimq::QoS::AtMostOnce,
&[],
)
.ok()
});
let telemetry_period = c.resources.settings.lock(|settings| settings.telemetry_period_secs);
let telemetry_period = c
.resources
.settings
.lock(|settings| settings.telemetry_period_secs);
// Schedule the telemetry task in the future.
c.schedule.telemetry( c.scheduled + SystemTimer::ticks_from_secs(telemetry_period as u32))
c.schedule
.telemetry(
c.scheduled
+ SystemTimer::ticks_from_secs(telemetry_period as u32),
)
.unwrap();
}

81
src/bin/lockin-external.rs
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@ -4,16 +4,20 @@
use generic_array::typenum::U4;
use miniconf::{minimq, Miniconf, MqttInterface};
use serde::Deserialize;
use dsp::{Accu, Complex, ComplexExt, Lockin, RPLL};
use stabilizer::net;
use stabilizer::hardware::{
design_parameters, setup, Adc0Input, Adc1Input, AfeGain, CycleCounter,
Dac0Output, Dac1Output, InputStamper, NetworkStack, AFE0, AFE1,
design_parameters, setup, Adc0Input, Adc1Input, AfeGain, Dac0Output,
Dac1Output, InputStamper, AFE0, AFE1,
};
use miniconf::Miniconf;
use stabilizer::net::{Action, MiniconfInterface};
#[derive(Copy, Clone, Debug, Deserialize, Miniconf)]
enum Conf {
PowerPhase,
@ -56,11 +60,7 @@ const APP: () = {
afes: (AFE0, AFE1),
adcs: (Adc0Input, Adc1Input),
dacs: (Dac0Output, Dac1Output),
clock: CycleCounter,
mqtt_interface:
MqttInterface<Settings, NetworkStack, minimq::consts::U256>,
mqtt_config: MiniconfInterface<Settings>,
settings: Settings,
timestamper: InputStamper,
@ -73,21 +73,16 @@ const APP: () = {
// Configure the microcontroller
let (mut stabilizer, _pounder) = setup(c.core, c.device);
let mqtt_interface = {
let mqtt_client = minimq::MqttClient::new(
design_parameters::MQTT_BROKER.into(),
"",
stabilizer.net.stack,
)
.unwrap();
MqttInterface::new(
mqtt_client,
"dt/sinara/lockin",
Settings::default(),
)
.unwrap()
};
let mqtt_config = MiniconfInterface::new(
stabilizer.net.stack,
"",
&net::get_device_prefix(
env!("CARGO_BIN_NAME"),
stabilizer.net.mac_address,
),
stabilizer.net.phy,
stabilizer.cycle_counter,
);
let settings = Settings::default();
@ -118,10 +113,8 @@ const APP: () = {
afes: stabilizer.afes,
adcs: stabilizer.adcs,
dacs: stabilizer.dacs,
mqtt_config,
timestamper: stabilizer.timestamper,
clock: stabilizer.cycle_counter,
mqtt_interface,
settings,
@ -202,44 +195,26 @@ const APP: () = {
}
}
#[idle(resources=[mqtt_interface, clock], spawn=[settings_update])]
#[idle(resources=[mqtt_config], spawn=[settings_update])]
fn idle(mut c: idle::Context) -> ! {
let clock = c.resources.clock;
loop {
let sleep = c.resources.mqtt_interface.lock(|interface| {
match interface.network_stack().poll(clock.current_ms()) {
Ok(updated) => !updated,
Err(err) => {
log::info!("Network error: {:?}", err);
false
}
}
});
match c
.resources
.mqtt_interface
.lock(|interface| interface.update())
.mqtt_config
.lock(|config_interface| config_interface.update())
{
Ok(update) => {
if update {
c.spawn.settings_update().unwrap();
} else if sleep {
cortex_m::asm::wfi();
}
Some(Action::Sleep) => cortex_m::asm::wfi(),
Some(Action::UpdateSettings) => {
c.spawn.settings_update().unwrap()
}
Err(miniconf::MqttError::Network(
smoltcp_nal::NetworkError::NoIpAddress,
)) => {}
Err(error) => log::info!("Unexpected error: {:?}", error),
_ => {}
}
}
}
#[task(priority = 1, resources=[mqtt_interface, settings, afes])]
#[task(priority = 1, resources=[mqtt_config, settings, afes])]
fn settings_update(mut c: settings_update::Context) {
let settings = &c.resources.mqtt_interface.settings;
let settings = &c.resources.mqtt_config.mqtt.settings;
c.resources.afes.0.set_gain(settings.afe[0]);
c.resources.afes.1.set_gain(settings.afe[1]);

32
src/hardware/configuration.rs
View File

@ -13,8 +13,8 @@ use embedded_hal::digital::v2::{InputPin, OutputPin};
use super::{
adc, afe, cycle_counter::CycleCounter, dac, design_parameters,
digital_input_stamper, eeprom, pounder, timers, system_timer, DdsOutput, DigitalInput0,
DigitalInput1, NetworkStack, AFE0, AFE1,
digital_input_stamper, eeprom, pounder, system_timer, timers, DdsOutput,
DigitalInput0, DigitalInput1, EthernetPhy, NetworkStack, AFE0, AFE1,
};
pub struct NetStorage {
@ -56,7 +56,8 @@ impl NetStorage {
/// The available networking devices on Stabilizer.
pub struct NetworkDevices {
pub stack: NetworkStack,
pub phy: ethernet::phy::LAN8742A<ethernet::EthernetMAC>,
pub phy: EthernetPhy,
pub mac_address: smoltcp::wire::EthernetAddress,
}
/// The available hardware interfaces on Stabilizer.
@ -608,14 +609,27 @@ pub fn setup(
)
};
let random_seed = {
let mut rng =
device.RNG.constrain(ccdr.peripheral.RNG, &ccdr.clocks);
let mut data = [0u8; 4];
rng.fill(&mut data).unwrap();
data
};
let mut stack = smoltcp_nal::NetworkStack::new(
interface,
sockets,
&handles,
Some(dhcp_client),
);
stack.seed_random_port(&random_seed);
NetworkDevices {
stack: smoltcp_nal::NetworkStack::new(
interface,
sockets,
&handles,
Some(dhcp_client),
),
stack,
phy: lan8742a,
mac_address: mac_addr,
}
};

2
src/hardware/mod.rs
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@ -53,6 +53,8 @@ pub type NetworkStack = smoltcp_nal::NetworkStack<
hal::ethernet::EthernetDMA<'static>,
>;
pub type EthernetPhy = hal::ethernet::phy::LAN8742A<hal::ethernet::EthernetMAC>;
pub use configuration::{setup, PounderDevices, StabilizerDevices};
#[inline(never)]

1
src/lib.rs
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@ -5,3 +5,4 @@
extern crate log;
pub mod hardware;
pub mod net;

148
src/net/mod.rs Normal file
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@ -0,0 +1,148 @@
use crate::hardware::{
design_parameters::MQTT_BROKER, CycleCounter, EthernetPhy, NetworkStack,
};
use core::fmt::Write;
use heapless::{consts, String};
use miniconf::minimq;
/// Potential actions for firmware to take.
pub enum Action {
/// Indicates that firmware can sleep for the next event.
Sleep,
/// Indicates that settings have updated and firmware needs to propogate changes.
UpdateSettings,
}
/// MQTT settings interface.
pub struct MiniconfInterface<S>
where
S: miniconf::Miniconf + Default,
{
pub mqtt: miniconf::MqttInterface<S, NetworkStack, minimq::consts::U256>,
clock: CycleCounter,
phy: EthernetPhy,
network_was_reset: bool,
}
impl<S> MiniconfInterface<S>
where
S: miniconf::Miniconf + Default,
{
/// Construct a new MQTT settings interface.
///
/// # Args
/// * `stack` - The network stack to use for communication.
/// * `client_id` - The ID of the MQTT client. May be an empty string for auto-assigning.
/// * `prefix` - The MQTT device prefix to use for this device.
/// * `phy` - The PHY driver for querying the link state.
/// * `clock` - The clock to utilize for querying the current system time.
pub fn new(
stack: NetworkStack,
client_id: &str,
prefix: &str,
phy: EthernetPhy,
clock: CycleCounter,
) -> Self {
let mqtt = {
let mqtt_client = {
minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
.unwrap()
};
miniconf::MqttInterface::new(mqtt_client, prefix, S::default())
.unwrap()
};
Self {
mqtt,
clock,
phy,
network_was_reset: false,
}
}
/// Update the MQTT interface and service the network
///
/// # Returns
/// An option containing an action that should be completed as a result of network servicing.
pub fn update(&mut self) -> Option<Action> {
let now = self.clock.current_ms();
// First, service the network stack to process and inbound and outbound traffic.
let sleep = match self.mqtt.network_stack().poll(now) {
Ok(updated) => !updated,
Err(err) => {
log::info!("Network error: {:?}", err);
false
}
};
// If the PHY indicates there's no more ethernet link, reset the DHCP server in the network
// stack.
if self.phy.poll_link() == false {
// Only reset the network stack once per link reconnection. This prevents us from
// sending an excessive number of DHCP requests.
if !self.network_was_reset {
self.network_was_reset = true;
self.mqtt.network_stack().handle_link_reset();
}
} else {
self.network_was_reset = false;
}
// Finally, service the MQTT interface and handle any necessary messages.
match self.mqtt.update() {
Ok(true) => Some(Action::UpdateSettings),
Ok(false) if sleep => Some(Action::Sleep),
Ok(_) => None,
Err(miniconf::MqttError::Network(
smoltcp_nal::NetworkError::NoIpAddress,
)) => None,
Err(error) => {
log::info!("Unexpected error: {:?}", error);
None
}
}
}
}
/// Get the MQTT prefix of a device.
///
/// # Args
/// * `app` - The name of the application that is executing.
/// * `mac` - The ethernet MAC address of the device.
///
/// # Returns
/// The MQTT prefix used for this device.
pub fn get_device_prefix(
app: &str,
mac: smoltcp_nal::smoltcp::wire::EthernetAddress,
) -> String<consts::U128> {
let mac_string = {
let mut mac_string: String<consts::U32> = String::new();
let mac = mac.as_bytes();
// Note(unwrap): 32-bytes is guaranteed to be valid for any mac address, as the address has
// a fixed length.
write!(
&mut mac_string,
"{:02x}-{:02x}-{:02x}-{:02x}-{:02x}-{:02x}",
mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]
)
.unwrap();
mac_string
};
// Note(unwrap): The mac address + binary name must be short enough to fit into this string. If
// they are defined too long, this will panic and the device will fail to boot.
let mut prefix: String<consts::U128> = String::new();
write!(&mut prefix, "dt/sinara/{}/{}", app, mac_string).unwrap();
prefix
}