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rtfm: status port

This commit is contained in:
Robert Jördens 2019-05-30 21:50:18 +00:00
parent b646c44c1c
commit 2b9a02d98e
1 changed files with 15 additions and 19 deletions
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34
src/main.rs
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@ -514,6 +514,7 @@ macro_rules! create_socket {
#[rtfm::app(device = stm32h7::stm32h7x3)]
const APP: () = {
static SPI: (stm32::SPI1, stm32::SPI2, stm32::SPI4, stm32::SPI5) = ();
static ETHERNET_PERIPH: (stm32::ETHERNET_MAC, stm32::ETHERNET_DMA, stm32::ETHERNET_MTL) = ();
static mut IIR_STATE: [IIRState; 2] = [[0.; 5]; 2];
static mut IIR_CH: [IIR; 2] = [
@ -524,7 +525,6 @@ const APP: () = {
y_max: SCALE
};
2];
static ETHERNET_PERIPH: (stm32::ETHERNET_MAC, stm32::ETHERNET_DMA, stm32::ETHERNET_MTL) = ();
#[link_section = ".sram3.eth"]
static mut ETHERNET: eth::Device = eth::Device::new();
@ -617,7 +617,7 @@ const APP: () = {
}
}
#[idle(resources = [ETHERNET, ETHERNET_PERIPH])]
#[idle(resources = [ETHERNET, ETHERNET_PERIPH, IIR_STATE])]
fn idle(c: idle::Context) -> ! {
let (MAC, DMA, MTL) = c.resources.ETHERNET_PERIPH;
@ -641,6 +641,7 @@ const APP: () = {
let mut last = 0u32;
let mut last_iter = rtfm::Instant::now();
//let mut server = Server::new();
let mut iir_state: resources::IIR_STATE = c.resources.IIR_STATE;
loop {
// if ETHERNET_PENDING.swap(false, Ordering::Relaxed) { }
let mut time = last;
@ -652,9 +653,16 @@ const APP: () = {
let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle0);
if !(socket.is_open() || socket.is_listening()) {
socket.listen(1234).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
} else if time > last && socket.can_send() {
} else if time != last && socket.can_send() {
last = time;
//handle_status(socket, time);
let s = iir_state.lock(|iir_state| Status {
t: time,
x0: iir_state[0][0],
y0: iir_state[0][2],
x1: iir_state[1][0],
y1: iir_state[1][2]
});
reply(socket, &s);
}
}
{
@ -676,7 +684,7 @@ const APP: () = {
}
}
#[task(schedule = [tick])]
#[task(priority = 1, schedule = [tick])]
fn tick(c: tick::Context) {
static mut TIME: u32 = 0;
*TIME += 1;
@ -686,13 +694,13 @@ const APP: () = {
// seems to slow it down
// #[link_section = ".data.spi1"]
#[interrupt(resources = [SPI, IIR_STATE, IIR_CH], priority = 3)]
#[interrupt(resources = [SPI, IIR_STATE, IIR_CH], priority = 2)]
fn SPI1(c: SPI1::Context) {
#[cfg(feature = "bkpt")]
cortex_m::asm::bkpt();
let (spi1, spi2, spi4, spi5) = c.resources.SPI;
let iir_ch = c.resources.IIR_CH;
let iir_state = c.resources.IIR_STATE;
let mut iir_state = c.resources.IIR_STATE;
let sr = spi1.sr.read();
if sr.eot().bit_is_set() {
@ -824,18 +832,6 @@ impl Server {
}
}
fn handle_status(socket: &mut net::socket::TcpSocket, time: u32,
iir_state: &[IIRState]) {
let s = unsafe { Status{
t: time,
x0: iir_state[0][0],
y0: iir_state[0][2],
x1: iir_state[1][0],
y1: iir_state[1][2],
}};
reply(socket, &s);
}
#[exception]
fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
panic!("HardFault at {:#?}", ef);