Merge #341
341: Feature/telemetry r=ryan-summers a=ryan-summers This PR fixes #149 This PR adds the following: * A `SystemTimer` used for RTIC scheduling (required for schedule periods > ~2 seconds) * A refactor of the `src/net` directory * Addition of network stack sharing via proxy (identical to implementation from `shared-bus`) * Addition of a telemetry task This must be merged after #352 Future Work: * move `src/net/shared.rs` into `embedded-nal` or some other separate crate. * Investigate removal of shared network stack by making smoltcp sockets owned and interrupt-safe Co-authored-by: Ryan Summers <ryan.summers@vertigo-designs.com>
This commit is contained in:
bors[bot]
GitHub
commit
33549793ca
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@ -426,7 +426,7 @@ dependencies = [
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[[package]]
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name = "minimq"
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version = "0.2.0"
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source = "git+https://github.com/quartiq/minimq.git?rev=b3f364d#b3f364d55dea35da6572f78ddb91c87bfbb453bf"
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source = "git+https://github.com/quartiq/minimq.git?rev=d2ec3e8#d2ec3e8351fa403ea96defd98c0b4410cbaa18a4"
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dependencies = [
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"bit_field",
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"embedded-nal",
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@ -708,6 +708,16 @@ dependencies = [
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"syn",
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]
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[[package]]
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name = "shared-bus"
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version = "0.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "78b60428415b23ed3f0e3abc776e10e548cf2cbb4288e73d5d181a02b5a90b95"
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dependencies = [
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"cortex-m 0.6.7",
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"embedded-hal",
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]
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[[package]]
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name = "smoltcp"
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version = "0.7.1"
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@ -722,7 +732,7 @@ dependencies = [
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[[package]]
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name = "smoltcp-nal"
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version = "0.1.0"
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source = "git+https://github.com/quartiq/smoltcp-nal.git?rev=8468f11#8468f11abacd7aba82454e6904df19c1d1ab91bb"
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source = "git+https://github.com/quartiq/smoltcp-nal.git?rev=4a1711c#4a1711c54cdf79f5ee8c1c99a1e8984f5944270c"
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dependencies = [
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"embedded-nal",
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"heapless 0.6.1",
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@ -753,6 +763,8 @@ dependencies = [
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"panic-semihosting",
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"paste",
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"serde",
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"serde-json-core",
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"shared-bus",
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"smoltcp-nal",
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"stm32h7xx-hal",
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]
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|
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@ -45,6 +45,8 @@ dsp = { path = "dsp" }
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ad9959 = { path = "ad9959" }
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generic-array = "0.14"
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miniconf = "0.1.0"
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shared-bus = {version = "0.2.2", features = ["cortex-m"] }
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serde-json-core = "0.3"
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[dependencies.mcp23017]
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git = "https://github.com/mrd0ll4r/mcp23017.git"
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@ -60,11 +62,11 @@ rev = "c6f2b28"
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[dependencies.smoltcp-nal]
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git = "https://github.com/quartiq/smoltcp-nal.git"
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rev = "8468f11"
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rev = "4a1711c"
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[dependencies.minimq]
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git = "https://github.com/quartiq/minimq.git"
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rev = "b3f364d"
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rev = "d2ec3e8"
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[features]
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semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
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@ -9,11 +9,11 @@ use serde::Deserialize;
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use dsp::iir;
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use hardware::{
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Adc0Input, Adc1Input, AfeGain, Dac0Output, Dac1Output, DigitalInput1,
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InputPin, AFE0, AFE1,
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Adc0Input, Adc1Input, AdcCode, AfeGain, Dac0Output, Dac1Output, DacCode,
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DigitalInput0, DigitalInput1, InputPin, SystemTimer, AFE0, AFE1,
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};
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use net::{Action, MqttInterface};
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use net::{NetworkUsers, Telemetry, TelemetryBuffer, UpdateState};
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const SCALE: f32 = i16::MAX as _;
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@ -26,6 +26,7 @@ pub struct Settings {
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iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
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allow_hold: bool,
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force_hold: bool,
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telemetry_period: u16,
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}
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impl Default for Settings {
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@ -43,42 +44,44 @@ impl Default for Settings {
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allow_hold: false,
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// Force suppress filter output updates.
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force_hold: false,
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// The default telemetry period in seconds.
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telemetry_period: 10,
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}
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}
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}
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#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
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#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = stabilizer::hardware::SystemTimer)]
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const APP: () = {
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struct Resources {
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afes: (AFE0, AFE1),
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digital_input1: DigitalInput1,
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digital_inputs: (DigitalInput0, DigitalInput1),
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adcs: (Adc0Input, Adc1Input),
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dacs: (Dac0Output, Dac1Output),
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mqtt: MqttInterface<Settings>,
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network: NetworkUsers<Settings, Telemetry>,
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settings: Settings,
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telemetry: TelemetryBuffer,
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#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
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iir_state: [[iir::Vec5; IIR_CASCADE_LENGTH]; 2],
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settings: Settings,
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}
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#[init(spawn=[settings_update])]
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#[init(spawn=[telemetry, settings_update])]
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fn init(c: init::Context) -> init::LateResources {
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// Configure the microcontroller
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let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
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let mqtt = MqttInterface::new(
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let network = NetworkUsers::new(
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stabilizer.net.stack,
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"",
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&net::get_device_prefix(
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env!("CARGO_BIN_NAME"),
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stabilizer.net.mac_address,
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),
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stabilizer.net.phy,
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stabilizer.cycle_counter,
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env!("CARGO_BIN_NAME"),
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stabilizer.net.mac_address,
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);
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// Spawn a settings update for default settings.
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c.spawn.settings_update().unwrap();
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c.spawn.telemetry().unwrap();
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// Enable ADC/DAC events
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stabilizer.adcs.0.start();
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@ -93,8 +96,9 @@ const APP: () = {
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afes: stabilizer.afes,
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adcs: stabilizer.adcs,
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dacs: stabilizer.dacs,
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mqtt,
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digital_input1: stabilizer.digital_inputs.1,
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network,
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digital_inputs: stabilizer.digital_inputs,
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telemetry: net::TelemetryBuffer::default(),
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settings: Settings::default(),
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}
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}
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@ -115,7 +119,7 @@ const APP: () = {
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///
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/// Because the ADC and DAC operate at the same rate, these two constraints actually implement
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/// the same time bounds, meeting one also means the other is also met.
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#[task(binds=DMA1_STR4, resources=[adcs, digital_input1, dacs, iir_state, settings], priority=2)]
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#[task(binds=DMA1_STR4, resources=[adcs, digital_inputs, dacs, iir_state, settings, telemetry], priority=2)]
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fn process(c: process::Context) {
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let adc_samples = [
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c.resources.adcs.0.acquire_buffer(),
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@ -127,9 +131,13 @@ const APP: () = {
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c.resources.dacs.1.acquire_buffer(),
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];
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let digital_inputs = [
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c.resources.digital_inputs.0.is_high().unwrap(),
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c.resources.digital_inputs.1.is_high().unwrap(),
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];
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let hold = c.resources.settings.force_hold
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|| (c.resources.digital_input1.is_high().unwrap()
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&& c.resources.settings.allow_hold);
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|| (digital_inputs[1] && c.resources.settings.allow_hold);
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for channel in 0..adc_samples.len() {
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for sample in 0..adc_samples[0].len() {
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@ -145,29 +153,34 @@ const APP: () = {
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// The truncation introduces 1/2 LSB distortion.
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let y = unsafe { y.to_int_unchecked::<i16>() };
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// Convert to DAC code
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dac_samples[channel][sample] = y as u16 ^ 0x8000;
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dac_samples[channel][sample] = DacCode::from(y).0;
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}
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}
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// Update telemetry measurements.
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c.resources.telemetry.adcs =
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[AdcCode(adc_samples[0][0]), AdcCode(adc_samples[1][0])];
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c.resources.telemetry.dacs =
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[DacCode(dac_samples[0][0]), DacCode(dac_samples[1][0])];
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c.resources.telemetry.digital_inputs = digital_inputs;
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}
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#[idle(resources=[mqtt], spawn=[settings_update])]
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#[idle(resources=[network], spawn=[settings_update])]
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fn idle(mut c: idle::Context) -> ! {
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loop {
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match c.resources.mqtt.lock(|mqtt| mqtt.update()) {
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Some(Action::Sleep) => cortex_m::asm::wfi(),
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Some(Action::UpdateSettings) => {
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c.spawn.settings_update().unwrap()
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}
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_ => {}
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match c.resources.network.lock(|net| net.update()) {
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UpdateState::Updated => c.spawn.settings_update().unwrap(),
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UpdateState::NoChange => cortex_m::asm::wfi(),
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}
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}
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}
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#[task(priority = 1, resources=[mqtt, afes, settings])]
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#[task(priority = 1, resources=[network, afes, settings])]
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fn settings_update(mut c: settings_update::Context) {
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let settings = c.resources.mqtt.settings();
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// Update the IIR channels.
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let settings = c.resources.network.miniconf.settings();
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c.resources.settings.lock(|current| *current = *settings);
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// Update AFEs
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@ -175,6 +188,30 @@ const APP: () = {
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c.resources.afes.1.set_gain(settings.afe[1]);
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}
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#[task(priority = 1, resources=[network, settings, telemetry], schedule=[telemetry])]
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fn telemetry(mut c: telemetry::Context) {
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let telemetry: TelemetryBuffer =
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c.resources.telemetry.lock(|telemetry| *telemetry);
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let (gains, telemetry_period) = c
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.resources
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.settings
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.lock(|settings| (settings.afe, settings.telemetry_period));
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c.resources
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.network
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.telemetry
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.publish(&telemetry.finalize(gains[0], gains[1]));
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// Schedule the telemetry task in the future.
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c.schedule
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.telemetry(
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c.scheduled
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+ SystemTimer::ticks_from_secs(telemetry_period as u32),
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)
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.unwrap();
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}
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#[task(binds = ETH, priority = 1)]
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fn eth(_: eth::Context) {
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unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
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|
|
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@ -2,6 +2,7 @@
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#![no_std]
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#![no_main]
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use embedded_hal::digital::v2::InputPin;
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use generic_array::typenum::U4;
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use serde::Deserialize;
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@ -11,12 +12,13 @@ use dsp::{Accu, Complex, ComplexExt, Lockin, RPLL};
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use stabilizer::net;
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use stabilizer::hardware::{
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design_parameters, setup, Adc0Input, Adc1Input, AfeGain, Dac0Output,
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Dac1Output, InputStamper, AFE0, AFE1,
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design_parameters, setup, Adc0Input, Adc1Input, AdcCode, AfeGain,
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Dac0Output, Dac1Output, DacCode, DigitalInput0, DigitalInput1,
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InputStamper, SystemTimer, AFE0, AFE1,
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};
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use miniconf::Miniconf;
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use stabilizer::net::{Action, MqttInterface};
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use net::{NetworkUsers, Telemetry, TelemetryBuffer, UpdateState};
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// A constant sinusoid to send on the DAC output.
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// Full-scale gives a +/- 10.24V amplitude waveform. Scale it down to give +/- 1V.
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@ -54,6 +56,7 @@ pub struct Settings {
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lockin_phase: i32,
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|
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output_conf: [Conf; 2],
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telemetry_period: u16,
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}
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impl Default for Settings {
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|
|
@ -70,38 +73,39 @@ impl Default for Settings {
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lockin_phase: 0, // Demodulation LO phase offset
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|
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output_conf: [Conf::InPhase, Conf::Quadrature],
|
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// The default telemetry period in seconds.
|
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telemetry_period: 10,
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}
|
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}
|
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}
|
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|
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#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
|
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#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = stabilizer::hardware::SystemTimer)]
|
||||
const APP: () = {
|
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struct Resources {
|
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afes: (AFE0, AFE1),
|
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adcs: (Adc0Input, Adc1Input),
|
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dacs: (Dac0Output, Dac1Output),
|
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mqtt: MqttInterface<Settings>,
|
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network: NetworkUsers<Settings, Telemetry>,
|
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settings: Settings,
|
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telemetry: TelemetryBuffer,
|
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digital_inputs: (DigitalInput0, DigitalInput1),
|
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|
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timestamper: InputStamper,
|
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pll: RPLL,
|
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lockin: Lockin<U4>,
|
||||
}
|
||||
|
||||
#[init(spawn=[settings_update])]
|
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#[init(spawn=[settings_update, telemetry])]
|
||||
fn init(c: init::Context) -> init::LateResources {
|
||||
// Configure the microcontroller
|
||||
let (mut stabilizer, _pounder) = setup(c.core, c.device);
|
||||
|
||||
let mqtt = MqttInterface::new(
|
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let network = NetworkUsers::new(
|
||||
stabilizer.net.stack,
|
||||
"",
|
||||
&net::get_device_prefix(
|
||||
env!("CARGO_BIN_NAME"),
|
||||
stabilizer.net.mac_address,
|
||||
),
|
||||
stabilizer.net.phy,
|
||||
stabilizer.cycle_counter,
|
||||
env!("CARGO_BIN_NAME"),
|
||||
stabilizer.net.mac_address,
|
||||
);
|
||||
|
||||
let settings = Settings::default();
|
||||
|
|
@ -111,8 +115,9 @@ const APP: () = {
|
|||
+ design_parameters::SAMPLE_BUFFER_SIZE_LOG2,
|
||||
);
|
||||
|
||||
// Spawn a settings update for default settings.
|
||||
// Spawn a settings and telemetry update for default settings.
|
||||
c.spawn.settings_update().unwrap();
|
||||
c.spawn.telemetry().unwrap();
|
||||
|
||||
// Enable ADC/DAC events
|
||||
stabilizer.adcs.0.start();
|
||||
|
|
@ -133,8 +138,10 @@ const APP: () = {
|
|||
afes: stabilizer.afes,
|
||||
adcs: stabilizer.adcs,
|
||||
dacs: stabilizer.dacs,
|
||||
mqtt,
|
||||
network,
|
||||
digital_inputs: stabilizer.digital_inputs,
|
||||
timestamper: stabilizer.timestamper,
|
||||
telemetry: net::TelemetryBuffer::default(),
|
||||
|
||||
settings,
|
||||
|
||||
|
|
@ -150,7 +157,7 @@ const APP: () = {
|
|||
/// This is an implementation of a externally (DI0) referenced PLL lockin on the ADC0 signal.
|
||||
/// It outputs either I/Q or power/phase on DAC0/DAC1. Data is normalized to full scale.
|
||||
/// PLL bandwidth, filter bandwidth, slope, and x/y or power/phase post-filters are available.
|
||||
#[task(binds=DMA1_STR4, resources=[adcs, dacs, lockin, timestamper, pll, settings], priority=2)]
|
||||
#[task(binds=DMA1_STR4, resources=[adcs, dacs, lockin, timestamper, pll, settings, telemetry], priority=2)]
|
||||
fn process(c: process::Context) {
|
||||
let adc_samples = [
|
||||
c.resources.adcs.0.acquire_buffer(),
|
||||
|
|
@ -226,27 +233,31 @@ const APP: () = {
|
|||
Conf::Modulation => DAC_SEQUENCE[i] as i32,
|
||||
};
|
||||
|
||||
*sample = value as u16 ^ 0x8000;
|
||||
*sample = DacCode::from(value as i16).0;
|
||||
}
|
||||
}
|
||||
|
||||
// Update telemetry measurements.
|
||||
c.resources.telemetry.adcs =
|
||||
[AdcCode(adc_samples[0][0]), AdcCode(adc_samples[1][0])];
|
||||
|
||||
c.resources.telemetry.dacs =
|
||||
[DacCode(dac_samples[0][0]), DacCode(dac_samples[1][0])];
|
||||
}
|
||||
|
||||
#[idle(resources=[mqtt], spawn=[settings_update])]
|
||||
#[idle(resources=[network], spawn=[settings_update])]
|
||||
fn idle(mut c: idle::Context) -> ! {
|
||||
loop {
|
||||
match c.resources.mqtt.lock(|mqtt| mqtt.update()) {
|
||||
Some(Action::Sleep) => cortex_m::asm::wfi(),
|
||||
Some(Action::UpdateSettings) => {
|
||||
c.spawn.settings_update().unwrap()
|
||||
}
|
||||
_ => {}
|
||||
match c.resources.network.lock(|net| net.update()) {
|
||||
UpdateState::Updated => c.spawn.settings_update().unwrap(),
|
||||
UpdateState::NoChange => cortex_m::asm::wfi(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[task(priority = 1, resources=[mqtt, settings, afes])]
|
||||
#[task(priority = 1, resources=[network, settings, afes])]
|
||||
fn settings_update(mut c: settings_update::Context) {
|
||||
let settings = c.resources.mqtt.settings();
|
||||
let settings = c.resources.network.miniconf.settings();
|
||||
|
||||
c.resources.afes.0.set_gain(settings.afe[0]);
|
||||
c.resources.afes.1.set_gain(settings.afe[1]);
|
||||
|
|
@ -254,6 +265,35 @@ const APP: () = {
|
|||
c.resources.settings.lock(|current| *current = *settings);
|
||||
}
|
||||
|
||||
#[task(priority = 1, resources=[network, digital_inputs, settings, telemetry], schedule=[telemetry])]
|
||||
fn telemetry(mut c: telemetry::Context) {
|
||||
let mut telemetry: TelemetryBuffer =
|
||||
c.resources.telemetry.lock(|telemetry| *telemetry);
|
||||
|
||||
telemetry.digital_inputs = [
|
||||
c.resources.digital_inputs.0.is_high().unwrap(),
|
||||
c.resources.digital_inputs.1.is_high().unwrap(),
|
||||
];
|
||||
|
||||
let (gains, telemetry_period) = c
|
||||
.resources
|
||||
.settings
|
||||
.lock(|settings| (settings.afe, settings.telemetry_period));
|
||||
|
||||
c.resources
|
||||
.network
|
||||
.telemetry
|
||||
.publish(&telemetry.finalize(gains[0], gains[1]));
|
||||
|
||||
// Schedule the telemetry task in the future.
|
||||
c.schedule
|
||||
.telemetry(
|
||||
c.scheduled
|
||||
+ SystemTimer::ticks_from_secs(telemetry_period as u32),
|
||||
)
|
||||
.unwrap();
|
||||
}
|
||||
|
||||
#[task(binds = ETH, priority = 1)]
|
||||
fn eth(_: eth::Context) {
|
||||
unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
|
||||
|
|
|
|||
|
|
@ -84,6 +84,24 @@ use hal::dma::{
|
|||
MemoryToPeripheral, PeripheralToMemory, Transfer,
|
||||
};
|
||||
|
||||
/// A type representing an ADC sample.
|
||||
#[derive(Copy, Clone)]
|
||||
pub struct AdcCode(pub u16);
|
||||
|
||||
impl Into<f32> for AdcCode {
|
||||
/// Convert raw ADC codes to/from voltage levels.
|
||||
///
|
||||
/// # Note
|
||||
/// This does not account for the programmable gain amplifier at the signal input.
|
||||
fn into(self) -> f32 {
|
||||
// The ADC has a differential input with a range of +/- 4.096 V and 16-bit resolution.
|
||||
// The gain into the two inputs is 1/5.
|
||||
let adc_volts_per_lsb = 5.0 / 2.0 * 4.096 / (1u16 << 15) as f32;
|
||||
|
||||
(self.0 as i16) as f32 * adc_volts_per_lsb
|
||||
}
|
||||
}
|
||||
|
||||
// The following data is written by the timer ADC sample trigger into the SPI CR1 to start the
|
||||
// transfer. Data in AXI SRAM is not initialized on boot, so the contents are random. This value is
|
||||
// initialized during setup.
|
||||
|
|
|
|||
|
|
@ -20,6 +20,18 @@ pub struct ProgrammableGainAmplifier<A0, A1> {
|
|||
a1: A1,
|
||||
}
|
||||
|
||||
impl Gain {
|
||||
/// Get the AFE gain as a numerical value.
|
||||
pub fn as_multiplier(self) -> f32 {
|
||||
match self {
|
||||
Gain::G1 => 1.0,
|
||||
Gain::G2 => 2.0,
|
||||
Gain::G5 => 5.0,
|
||||
Gain::G10 => 10.0,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl TryFrom<u8> for Gain {
|
||||
type Error = ();
|
||||
|
||||
|
|
|
|||
|
|
@ -7,25 +7,30 @@ use stm32h7xx_hal::{
|
|||
prelude::*,
|
||||
};
|
||||
|
||||
const NUM_SOCKETS: usize = 4;
|
||||
|
||||
use heapless::{consts, Vec};
|
||||
use smoltcp_nal::smoltcp;
|
||||
|
||||
use embedded_hal::digital::v2::{InputPin, OutputPin};
|
||||
|
||||
use super::{
|
||||
adc, afe, cycle_counter::CycleCounter, dac, design_parameters,
|
||||
digital_input_stamper, eeprom, pounder, timers, DdsOutput, DigitalInput0,
|
||||
DigitalInput1, EthernetPhy, NetworkStack, AFE0, AFE1,
|
||||
digital_input_stamper, eeprom, pounder, system_timer, timers, DdsOutput,
|
||||
DigitalInput0, DigitalInput1, EthernetPhy, NetworkStack, AFE0, AFE1,
|
||||
};
|
||||
|
||||
pub struct NetStorage {
|
||||
pub ip_addrs: [smoltcp::wire::IpCidr; 1],
|
||||
pub sockets: [Option<smoltcp::socket::SocketSetItem<'static>>; 2],
|
||||
|
||||
// Note: There is an additional socket set item required for the DHCP socket.
|
||||
pub sockets:
|
||||
[Option<smoltcp::socket::SocketSetItem<'static>>; NUM_SOCKETS + 1],
|
||||
pub socket_storage: [SocketStorage; NUM_SOCKETS],
|
||||
pub neighbor_cache:
|
||||
[Option<(smoltcp::wire::IpAddress, smoltcp::iface::Neighbor)>; 8],
|
||||
pub routes_cache:
|
||||
[Option<(smoltcp::wire::IpCidr, smoltcp::iface::Route)>; 8],
|
||||
pub tx_storage: [u8; 4096],
|
||||
pub rx_storage: [u8; 4096],
|
||||
|
||||
pub dhcp_rx_metadata: [smoltcp::socket::RawPacketMetadata; 1],
|
||||
pub dhcp_tx_metadata: [smoltcp::socket::RawPacketMetadata; 1],
|
||||
|
|
@ -33,6 +38,21 @@ pub struct NetStorage {
|
|||
pub dhcp_rx_storage: [u8; 600],
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone)]
|
||||
pub struct SocketStorage {
|
||||
rx_storage: [u8; 1024],
|
||||
tx_storage: [u8; 1024],
|
||||
}
|
||||
|
||||
impl SocketStorage {
|
||||
const fn new() -> Self {
|
||||
Self {
|
||||
rx_storage: [0; 1024],
|
||||
tx_storage: [0; 1024],
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl NetStorage {
|
||||
pub fn new() -> Self {
|
||||
NetStorage {
|
||||
|
|
@ -42,9 +62,8 @@ impl NetStorage {
|
|||
)],
|
||||
neighbor_cache: [None; 8],
|
||||
routes_cache: [None; 8],
|
||||
sockets: [None, None],
|
||||
tx_storage: [0; 4096],
|
||||
rx_storage: [0; 4096],
|
||||
sockets: [None, None, None, None, None],
|
||||
socket_storage: [SocketStorage::new(); NUM_SOCKETS],
|
||||
dhcp_tx_storage: [0; 600],
|
||||
dhcp_rx_storage: [0; 600],
|
||||
dhcp_rx_metadata: [smoltcp::socket::RawPacketMetadata::EMPTY; 1],
|
||||
|
|
@ -98,7 +117,7 @@ static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
|
|||
/// `Some(devices)` if pounder is detected, where `devices` is a `PounderDevices` structure
|
||||
/// containing all of the pounder hardware interfaces in a disabled state.
|
||||
pub fn setup(
|
||||
mut core: rtic::export::Peripherals,
|
||||
mut core: rtic::Peripherals,
|
||||
device: stm32h7xx_hal::stm32::Peripherals,
|
||||
) -> (StabilizerDevices, Option<PounderDevices>) {
|
||||
let pwr = device.PWR.constrain();
|
||||
|
|
@ -141,7 +160,18 @@ pub fn setup(
|
|||
init_log(logger).unwrap();
|
||||
}
|
||||
|
||||
let mut delay = hal::delay::Delay::new(core.SYST, ccdr.clocks);
|
||||
// Set up the system timer for RTIC scheduling.
|
||||
{
|
||||
let tim15 =
|
||||
device
|
||||
.TIM15
|
||||
.timer(10.khz(), ccdr.peripheral.TIM15, &ccdr.clocks);
|
||||
system_timer::SystemTimer::initialize(tim15);
|
||||
}
|
||||
|
||||
let mut delay = asm_delay::AsmDelay::new(asm_delay::bitrate::Hertz(
|
||||
ccdr.clocks.c_ck().0,
|
||||
));
|
||||
|
||||
let gpioa = device.GPIOA.split(ccdr.peripheral.GPIOA);
|
||||
let gpiob = device.GPIOB.split(ccdr.peripheral.GPIOB);
|
||||
|
|
@ -562,19 +592,25 @@ pub fn setup(
|
|||
let mut sockets =
|
||||
smoltcp::socket::SocketSet::new(&mut store.sockets[..]);
|
||||
|
||||
let tcp_socket = {
|
||||
let rx_buffer = smoltcp::socket::TcpSocketBuffer::new(
|
||||
&mut store.rx_storage[..],
|
||||
);
|
||||
let tx_buffer = smoltcp::socket::TcpSocketBuffer::new(
|
||||
&mut store.tx_storage[..],
|
||||
);
|
||||
let mut handles: Vec<smoltcp::socket::SocketHandle, consts::U64> =
|
||||
Vec::new();
|
||||
for storage in store.socket_storage.iter_mut() {
|
||||
let tcp_socket = {
|
||||
let rx_buffer = smoltcp::socket::TcpSocketBuffer::new(
|
||||
&mut storage.rx_storage[..],
|
||||
);
|
||||
let tx_buffer = smoltcp::socket::TcpSocketBuffer::new(
|
||||
&mut storage.tx_storage[..],
|
||||
);
|
||||
|
||||
smoltcp::socket::TcpSocket::new(rx_buffer, tx_buffer)
|
||||
};
|
||||
smoltcp::socket::TcpSocket::new(rx_buffer, tx_buffer)
|
||||
};
|
||||
let handle = sockets.add(tcp_socket);
|
||||
|
||||
let handle = sockets.add(tcp_socket);
|
||||
(sockets, [handle])
|
||||
handles.push(handle).unwrap();
|
||||
}
|
||||
|
||||
(sockets, handles)
|
||||
};
|
||||
|
||||
let dhcp_client = {
|
||||
|
|
|
|||
|
|
@ -69,6 +69,28 @@ use hal::dma::{
|
|||
static mut DAC_BUF: [[[u16; SAMPLE_BUFFER_SIZE]; 3]; 2] =
|
||||
[[[0; SAMPLE_BUFFER_SIZE]; 3]; 2];
|
||||
|
||||
/// Custom type for referencing DAC output codes.
|
||||
/// The internal integer is the raw code written to the DAC output register.
|
||||
#[derive(Copy, Clone)]
|
||||
pub struct DacCode(pub u16);
|
||||
|
||||
impl Into<f32> for DacCode {
|
||||
fn into(self) -> f32 {
|
||||
// The DAC output range in bipolar mode (including the external output op-amp) is +/- 4.096
|
||||
// V with 16-bit resolution. The anti-aliasing filter has an additional gain of 2.5.
|
||||
let dac_volts_per_lsb = 4.096 * 2.5 / (1u16 << 15) as f32;
|
||||
|
||||
(self.0 as i16).wrapping_add(i16::MIN) as f32 * dac_volts_per_lsb
|
||||
}
|
||||
}
|
||||
|
||||
impl From<i16> for DacCode {
|
||||
/// Encode signed 16-bit values into DAC offset binary for a bipolar output configuration.
|
||||
fn from(value: i16) -> Self {
|
||||
Self(value.wrapping_add(i16::MIN) as u16)
|
||||
}
|
||||
}
|
||||
|
||||
macro_rules! dac_output {
|
||||
($name:ident, $index:literal, $data_stream:ident,
|
||||
$spi:ident, $trigger_channel:ident, $dma_req:ident) => {
|
||||
|
|
|
|||
|
|
@ -16,14 +16,16 @@ pub mod design_parameters;
|
|||
mod digital_input_stamper;
|
||||
mod eeprom;
|
||||
pub mod pounder;
|
||||
mod system_timer;
|
||||
mod timers;
|
||||
|
||||
pub use adc::{Adc0Input, Adc1Input};
|
||||
pub use adc::{Adc0Input, Adc1Input, AdcCode};
|
||||
pub use afe::Gain as AfeGain;
|
||||
pub use cycle_counter::CycleCounter;
|
||||
pub use dac::{Dac0Output, Dac1Output};
|
||||
pub use dac::{Dac0Output, Dac1Output, DacCode};
|
||||
pub use digital_input_stamper::InputStamper;
|
||||
pub use pounder::DdsOutput;
|
||||
pub use system_timer::SystemTimer;
|
||||
|
||||
// Type alias for the analog front-end (AFE) for ADC0.
|
||||
pub type AFE0 = afe::ProgrammableGainAmplifier<
|
||||
|
|
|
|||
|
|
@ -0,0 +1,115 @@
|
|||
///! System timer used for RTIC scheduling
|
||||
///!
|
||||
///! # Design
|
||||
///! The SystemTimer is an RTIC monotonic timer that can be used for scheduling tasks in RTIC.
|
||||
///! This timer is used in place of the cycle counter to allow the timer to tick at a slower rate
|
||||
///! than the CPU clock. This allows for longer scheduling periods with less resolution. This is
|
||||
///! needed for infrequent (e.g. multiple second) telemetry periods.
|
||||
///!
|
||||
///! # Limitations
|
||||
///! This implementation relies on sufficient timer polling to not miss timer counter overflows. If
|
||||
///! the timer is not polled often enough, it's possible that an overflow would be missed and time
|
||||
///! would "halt" for a shore period of time. This could be fixed in the future by instead
|
||||
///! listening for the overflow interrupt instead of polling the overflow state.
|
||||
use hal::prelude::*;
|
||||
use stm32h7xx_hal as hal;
|
||||
|
||||
// A global buffer indicating how many times the internal counter has overflowed.
|
||||
static mut OVERFLOWS: u32 = 0;
|
||||
|
||||
/// System timer used for implementing RTIC scheduling.
|
||||
///
|
||||
/// # Note
|
||||
/// The system timer must be initialized before being used.
|
||||
pub struct SystemTimer {}
|
||||
|
||||
impl SystemTimer {
|
||||
/// Initialize the system timer.
|
||||
///
|
||||
/// # Args
|
||||
/// * `timer` - The hardware timer used for implementing the RTIC monotonic.
|
||||
pub fn initialize(mut timer: hal::timer::Timer<hal::device::TIM15>) {
|
||||
timer.pause();
|
||||
// Have the system timer operate at a tick rate of 10KHz (100uS per tick). With this
|
||||
// configuration and a 65535 period, we get an overflow once every 6.5 seconds.
|
||||
timer.set_tick_freq(10.khz());
|
||||
timer.apply_freq();
|
||||
|
||||
timer.resume();
|
||||
}
|
||||
|
||||
/// Convert a provided number of seconds into timer ticks.
|
||||
pub fn ticks_from_secs(secs: u32) -> i32 {
|
||||
(secs * 10_000) as i32
|
||||
}
|
||||
}
|
||||
|
||||
impl rtic::Monotonic for SystemTimer {
|
||||
// Instants are stored in 32-bit signed integers. With a 10KHz tick rate, this means an
|
||||
// instant can store up to ~59 hours of time before overflowing.
|
||||
type Instant = i32;
|
||||
|
||||
fn ratio() -> rtic::Fraction {
|
||||
rtic::Fraction {
|
||||
// At 10KHz with a 400MHz CPU clock, the CPU clock runs 40,000 times faster than
|
||||
// the system timer.
|
||||
numerator: 40_000,
|
||||
denominator: 1,
|
||||
}
|
||||
}
|
||||
|
||||
/// Get the current time instant.
|
||||
///
|
||||
/// # Note
|
||||
/// The time will overflow into -59 hours after the first 59 hours. This time value is intended
|
||||
/// for use in calculating time delta, and should not be used for timestamping purposes due to
|
||||
/// roll-over.
|
||||
fn now() -> i32 {
|
||||
// Note(unsafe): Multiple interrupt contexts have access to the underlying timer, so care
|
||||
// is taken when reading and modifying register values.
|
||||
let regs = unsafe { &*hal::device::TIM15::ptr() };
|
||||
|
||||
cortex_m::interrupt::free(|_cs| {
|
||||
loop {
|
||||
// Checking for overflows of the current counter must be performed atomically. Any
|
||||
// other task that is accessing the current time could potentially race for the
|
||||
// registers. Note that this is only required for writing to global state (e.g. timer
|
||||
// registers and overflow counter)
|
||||
// Check for overflows and clear the overflow bit atomically. This must be done in
|
||||
// a critical section to prevent race conditions on the status register.
|
||||
if regs.sr.read().uif().bit_is_set() {
|
||||
regs.sr.modify(|_, w| w.uif().clear_bit());
|
||||
unsafe {
|
||||
OVERFLOWS += 1;
|
||||
}
|
||||
}
|
||||
|
||||
let current_value = regs.cnt.read().bits();
|
||||
|
||||
// Check that an overflow didn't occur since we just cleared the overflow bit. If
|
||||
// it did, loop around and retry.
|
||||
if regs.sr.read().uif().bit_is_clear() {
|
||||
// Note(unsafe): We are in a critical section, so it is safe to read the
|
||||
// global variable.
|
||||
return unsafe {
|
||||
((OVERFLOWS << 16) + current_value) as i32
|
||||
};
|
||||
}
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
/// Reset the timer count.
|
||||
unsafe fn reset() {
|
||||
// Note: The timer must be safely configured in `SystemTimer::initialize()`.
|
||||
let regs = &*hal::device::TIM15::ptr();
|
||||
|
||||
OVERFLOWS = 0;
|
||||
regs.cnt.reset();
|
||||
}
|
||||
|
||||
/// Get a timestamp correlating to zero time.
|
||||
fn zero() -> i32 {
|
||||
0
|
||||
}
|
||||
}
|
||||
|
|
@ -1,27 +1,33 @@
|
|||
use crate::hardware::{
|
||||
design_parameters::MQTT_BROKER, CycleCounter, EthernetPhy, NetworkStack,
|
||||
};
|
||||
|
||||
///! Stabilizer Run-time Settings Client
|
||||
///!
|
||||
///! # Design
|
||||
///! Stabilizer allows for settings to be configured at run-time via MQTT using miniconf.
|
||||
///! Settings are written in serialized JSON form to the settings path associated with the setting.
|
||||
///!
|
||||
///! # Limitations
|
||||
///! The MQTT client logs failures to subscribe to the settings topic, but does not re-attempt to
|
||||
///connect to it when errors occur.
|
||||
///!
|
||||
///! Respones to settings updates are sent without quality-of-service guarantees, so there's no
|
||||
///! guarantee that the requestee will be informed that settings have been applied.
|
||||
use heapless::{consts, String};
|
||||
|
||||
use super::{Action, MqttMessage, SettingsResponse};
|
||||
use super::{MqttMessage, NetworkReference, SettingsResponse, UpdateState};
|
||||
use crate::hardware::design_parameters::MQTT_BROKER;
|
||||
|
||||
/// MQTT settings interface.
|
||||
pub struct MqttInterface<S>
|
||||
pub struct MiniconfClient<S>
|
||||
where
|
||||
S: miniconf::Miniconf + Default + Clone,
|
||||
{
|
||||
default_response_topic: String<consts::U128>,
|
||||
mqtt: minimq::MqttClient<minimq::consts::U256, NetworkStack>,
|
||||
mqtt: minimq::MqttClient<minimq::consts::U256, NetworkReference>,
|
||||
settings: S,
|
||||
clock: CycleCounter,
|
||||
phy: EthernetPhy,
|
||||
network_was_reset: bool,
|
||||
subscribed: bool,
|
||||
settings_prefix: String<consts::U64>,
|
||||
}
|
||||
|
||||
impl<S> MqttInterface<S>
|
||||
impl<S> MiniconfClient<S>
|
||||
where
|
||||
S: miniconf::Miniconf + Default + Clone,
|
||||
{
|
||||
|
|
@ -31,15 +37,7 @@ where
|
|||
/// * `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 {
|
||||
pub fn new(stack: NetworkReference, client_id: &str, prefix: &str) -> Self {
|
||||
let mqtt =
|
||||
minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
|
||||
.unwrap();
|
||||
|
|
@ -54,10 +52,7 @@ where
|
|||
mqtt,
|
||||
settings: S::default(),
|
||||
settings_prefix,
|
||||
clock,
|
||||
phy,
|
||||
default_response_topic: response_topic,
|
||||
network_was_reset: false,
|
||||
subscribed: false,
|
||||
}
|
||||
}
|
||||
|
|
@ -66,31 +61,7 @@ where
|
|||
///
|
||||
/// # Returns
|
||||
/// An option containing an action that should be completed as a result of network servicing.
|
||||
pub fn update(&mut self) -> Option<Action> {
|
||||
// First, service the network stack to process any inbound and outbound traffic.
|
||||
let sleep = match self.mqtt.network_stack.poll(self.clock.current_ms())
|
||||
{
|
||||
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.
|
||||
match self.phy.poll_link() {
|
||||
true => self.network_was_reset = false,
|
||||
|
||||
// Only reset the network stack once per link reconnection. This prevents us from
|
||||
// sending an excessive number of DHCP requests.
|
||||
false if !self.network_was_reset => {
|
||||
self.network_was_reset = true;
|
||||
self.mqtt.network_stack.handle_link_reset();
|
||||
}
|
||||
_ => {}
|
||||
};
|
||||
|
||||
pub fn update(&mut self) -> UpdateState {
|
||||
let mqtt_connected = match self.mqtt.is_connected() {
|
||||
Ok(connected) => connected,
|
||||
Err(minimq::Error::Network(
|
||||
|
|
@ -167,30 +138,24 @@ where
|
|||
.ok();
|
||||
}) {
|
||||
// If settings updated,
|
||||
Ok(_) => {
|
||||
if update {
|
||||
Some(Action::UpdateSettings)
|
||||
} else if sleep {
|
||||
Some(Action::Sleep)
|
||||
} else {
|
||||
None
|
||||
}
|
||||
}
|
||||
Err(minimq::Error::Disconnected) => {
|
||||
Ok(_) if update => UpdateState::Updated,
|
||||
Ok(_) => UpdateState::NoChange,
|
||||
Err(minimq::Error::SessionReset) => {
|
||||
self.subscribed = false;
|
||||
None
|
||||
UpdateState::NoChange
|
||||
}
|
||||
Err(minimq::Error::Network(
|
||||
smoltcp_nal::NetworkError::NoIpAddress,
|
||||
)) => None,
|
||||
)) => UpdateState::NoChange,
|
||||
|
||||
Err(error) => {
|
||||
log::info!("Unexpected error: {:?}", error);
|
||||
None
|
||||
UpdateState::NoChange
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Get the current settings from miniconf.
|
||||
pub fn settings(&self) -> &S {
|
||||
&self.settings
|
||||
}
|
||||
142
src/net/mod.rs
142
src/net/mod.rs
|
|
@ -6,21 +6,129 @@
|
|||
///! streaming over raw UDP/TCP sockets. This module encompasses the main processing routines
|
||||
///! related to Stabilizer networking operations.
|
||||
use heapless::{consts, String};
|
||||
use miniconf::Miniconf;
|
||||
use serde::Serialize;
|
||||
|
||||
use core::fmt::Write;
|
||||
|
||||
mod messages;
|
||||
mod mqtt_interface;
|
||||
mod miniconf_client;
|
||||
mod network_processor;
|
||||
mod shared;
|
||||
mod telemetry;
|
||||
|
||||
use crate::hardware::{CycleCounter, EthernetPhy, NetworkStack};
|
||||
use messages::{MqttMessage, SettingsResponse};
|
||||
pub use mqtt_interface::MqttInterface;
|
||||
|
||||
/// Potential actions for firmware to take.
|
||||
pub enum Action {
|
||||
/// Indicates that firmware can sleep for the next event.
|
||||
Sleep,
|
||||
pub use miniconf_client::MiniconfClient;
|
||||
pub use network_processor::NetworkProcessor;
|
||||
pub use shared::NetworkManager;
|
||||
pub use telemetry::{Telemetry, TelemetryBuffer, TelemetryClient};
|
||||
|
||||
/// Indicates that settings have updated and firmware needs to propogate changes.
|
||||
UpdateSettings,
|
||||
pub type NetworkReference = shared::NetworkStackProxy<'static, NetworkStack>;
|
||||
|
||||
#[derive(Copy, Clone, PartialEq)]
|
||||
pub enum UpdateState {
|
||||
NoChange,
|
||||
Updated,
|
||||
}
|
||||
|
||||
/// A structure of Stabilizer's default network users.
|
||||
pub struct NetworkUsers<S: Default + Clone + Miniconf, T: Serialize> {
|
||||
pub miniconf: MiniconfClient<S>,
|
||||
pub processor: NetworkProcessor,
|
||||
pub telemetry: TelemetryClient<T>,
|
||||
}
|
||||
|
||||
impl<S, T> NetworkUsers<S, T>
|
||||
where
|
||||
S: Default + Clone + Miniconf,
|
||||
T: Serialize,
|
||||
{
|
||||
/// Construct Stabilizer's default network users.
|
||||
///
|
||||
/// # Args
|
||||
/// * `stack` - The network stack that will be used to share with all network users.
|
||||
/// * `phy` - The ethernet PHY connecting the network.
|
||||
/// * `cycle_counter` - The clock used for measuring time in the network.
|
||||
/// * `app` - The name of the application.
|
||||
/// * `mac` - The MAC address of the network.
|
||||
///
|
||||
/// # Returns
|
||||
/// A new struct of network users.
|
||||
pub fn new(
|
||||
stack: NetworkStack,
|
||||
phy: EthernetPhy,
|
||||
cycle_counter: CycleCounter,
|
||||
app: &str,
|
||||
mac: smoltcp_nal::smoltcp::wire::EthernetAddress,
|
||||
) -> Self {
|
||||
let stack_manager =
|
||||
cortex_m::singleton!(: NetworkManager = NetworkManager::new(stack))
|
||||
.unwrap();
|
||||
|
||||
let processor = NetworkProcessor::new(
|
||||
stack_manager.acquire_stack(),
|
||||
phy,
|
||||
cycle_counter,
|
||||
);
|
||||
|
||||
let prefix = get_device_prefix(app, mac);
|
||||
|
||||
let settings = MiniconfClient::new(
|
||||
stack_manager.acquire_stack(),
|
||||
&get_client_id(app, "settings", mac),
|
||||
&prefix,
|
||||
);
|
||||
|
||||
let telemetry = TelemetryClient::new(
|
||||
stack_manager.acquire_stack(),
|
||||
&get_client_id(app, "tlm", mac),
|
||||
&prefix,
|
||||
);
|
||||
|
||||
NetworkUsers {
|
||||
miniconf: settings,
|
||||
processor,
|
||||
telemetry,
|
||||
}
|
||||
}
|
||||
|
||||
/// Update and process all of the network users state.
|
||||
///
|
||||
/// # Returns
|
||||
/// An indication if any of the network users indicated a state change.
|
||||
pub fn update(&mut self) -> UpdateState {
|
||||
// Poll for incoming data.
|
||||
let poll_result = self.processor.update();
|
||||
|
||||
// Update the MQTT clients.
|
||||
self.telemetry.update();
|
||||
|
||||
match self.miniconf.update() {
|
||||
UpdateState::Updated => UpdateState::Updated,
|
||||
UpdateState::NoChange => poll_result,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Get an MQTT client ID for a client.
|
||||
///
|
||||
/// # Args
|
||||
/// * `app` - The name of the application
|
||||
/// * `client` - The unique tag of the client
|
||||
/// * `mac` - The MAC address of the device.
|
||||
///
|
||||
/// # Returns
|
||||
/// A client ID that may be used for MQTT client identification.
|
||||
fn get_client_id(
|
||||
app: &str,
|
||||
client: &str,
|
||||
mac: smoltcp_nal::smoltcp::wire::EthernetAddress,
|
||||
) -> String<consts::U64> {
|
||||
let mut identifier = String::new();
|
||||
write!(&mut identifier, "{}-{}-{}", app, mac, client).unwrap();
|
||||
identifier
|
||||
}
|
||||
|
||||
/// Get the MQTT prefix of a device.
|
||||
|
|
@ -35,26 +143,10 @@ 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();
|
||||
write!(&mut prefix, "dt/sinara/{}/{}", app, mac).unwrap();
|
||||
|
||||
prefix
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,77 @@
|
|||
///! Task to process network hardware.
|
||||
///!
|
||||
///! # Design
|
||||
///! The network processir is a small taks to regularly process incoming data over ethernet, handle
|
||||
///! the ethernet PHY state, and reset the network as appropriate.
|
||||
use super::{NetworkReference, UpdateState};
|
||||
use crate::hardware::{CycleCounter, EthernetPhy};
|
||||
|
||||
/// Processor for managing network hardware.
|
||||
pub struct NetworkProcessor {
|
||||
stack: NetworkReference,
|
||||
phy: EthernetPhy,
|
||||
clock: CycleCounter,
|
||||
network_was_reset: bool,
|
||||
}
|
||||
|
||||
impl NetworkProcessor {
|
||||
/// Construct a new network processor.
|
||||
///
|
||||
/// # Args
|
||||
/// * `stack` - A reference to the shared network stack
|
||||
/// * `phy` - The ethernet PHY used for the network.
|
||||
/// * `clock` - The clock used for providing time to the network.
|
||||
///
|
||||
/// # Returns
|
||||
/// The newly constructed processor.
|
||||
pub fn new(
|
||||
stack: NetworkReference,
|
||||
phy: EthernetPhy,
|
||||
clock: CycleCounter,
|
||||
) -> Self {
|
||||
Self {
|
||||
stack,
|
||||
phy,
|
||||
clock,
|
||||
network_was_reset: false,
|
||||
}
|
||||
}
|
||||
|
||||
/// Process and update the state of the network.
|
||||
///
|
||||
/// # Note
|
||||
/// This function should be called regularly before other network tasks to update the state of
|
||||
/// all relevant network sockets.
|
||||
///
|
||||
/// # Returns
|
||||
/// An update state corresponding with any changes in the underlying network.
|
||||
pub fn update(&mut self) -> UpdateState {
|
||||
// Service the network stack to process any inbound and outbound traffic.
|
||||
let now = self.clock.current_ms();
|
||||
|
||||
let result = match self.stack.lock(|stack| stack.poll(now)) {
|
||||
Ok(true) => UpdateState::Updated,
|
||||
Ok(false) => UpdateState::NoChange,
|
||||
Err(err) => {
|
||||
log::info!("Network error: {:?}", err);
|
||||
UpdateState::Updated
|
||||
}
|
||||
};
|
||||
|
||||
// If the PHY indicates there's no more ethernet link, reset the DHCP server in the network
|
||||
// stack.
|
||||
match self.phy.poll_link() {
|
||||
true => self.network_was_reset = false,
|
||||
|
||||
// Only reset the network stack once per link reconnection. This prevents us from
|
||||
// sending an excessive number of DHCP requests.
|
||||
false if !self.network_was_reset => {
|
||||
self.network_was_reset = true;
|
||||
self.stack.lock(|stack| stack.handle_link_reset());
|
||||
}
|
||||
_ => {}
|
||||
};
|
||||
|
||||
result
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,91 @@
|
|||
///! Network Stack Sharing Utilities
|
||||
///!
|
||||
///! # Design
|
||||
///! This module provides a mechanism for sharing a single network stack safely between drivers
|
||||
///that may or may not execute in multiple contexts. The design copies that of `shared-bus`.
|
||||
///!
|
||||
///! Specifically, the network stack is stored in a global static singleton and proxies to the
|
||||
///! underlying stack are handed out. The proxies provide an identical API for the
|
||||
///! `embedded_nal::TcpStack` stack trait, so they can be provided direclty to drivers that require
|
||||
///! a network stack.
|
||||
///!
|
||||
///! In order to ensure that pre-emption does not occur while accessing the same network stack from
|
||||
///! multiple interrupt contexts, the proxy uses an atomic boolean check - if the flag indicates the
|
||||
///! stack is in use, the proxy will generate a panic. The actual synchronization mechanism (mutex)
|
||||
///! leverages RTIC resource allocation. All devices that use the underlying network stack must be
|
||||
///! placed in a single RTIC resource, which will cause RTIC to prevent contention for the
|
||||
///! underlying network stack.
|
||||
use minimq::embedded_nal;
|
||||
use shared_bus::{AtomicCheckMutex, BusMutex};
|
||||
|
||||
use crate::hardware::NetworkStack;
|
||||
|
||||
/// A manager for a shared network stack.
|
||||
pub struct NetworkManager {
|
||||
mutex: AtomicCheckMutex<NetworkStack>,
|
||||
}
|
||||
|
||||
/// A basic proxy that references a shared network stack.
|
||||
pub struct NetworkStackProxy<'a, S> {
|
||||
mutex: &'a AtomicCheckMutex<S>,
|
||||
}
|
||||
|
||||
impl<'a, S> NetworkStackProxy<'a, S> {
|
||||
/// Using the proxy, access the underlying network stack directly.
|
||||
///
|
||||
/// # Args
|
||||
/// * `f` - A closure which will be provided the network stack as an argument.
|
||||
///
|
||||
/// # Returns
|
||||
/// Any value returned by the provided closure
|
||||
pub fn lock<R, F: FnOnce(&mut S) -> R>(&mut self, f: F) -> R {
|
||||
self.mutex.lock(|stack| f(stack))
|
||||
}
|
||||
}
|
||||
|
||||
// A simple forwarding macro taken from the `embedded-nal` to forward the embedded-nal API into the
|
||||
// proxy structure.
|
||||
macro_rules! forward {
|
||||
($func:ident($($v:ident: $IT:ty),*) -> $T:ty) => {
|
||||
fn $func(&self, $($v: $IT),*) -> $T {
|
||||
self.mutex.lock(|stack| stack.$func($($v),*))
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Implement a TCP stack for the proxy if the underlying network stack implements it.
|
||||
impl<'a, S> embedded_nal::TcpStack for NetworkStackProxy<'a, S>
|
||||
where
|
||||
S: embedded_nal::TcpStack,
|
||||
{
|
||||
type TcpSocket = S::TcpSocket;
|
||||
type Error = S::Error;
|
||||
|
||||
forward! {open(mode: embedded_nal::Mode) -> Result<S::TcpSocket, S::Error>}
|
||||
forward! {connect(socket: S::TcpSocket, remote: embedded_nal::SocketAddr) -> Result<S::TcpSocket, S::Error>}
|
||||
forward! {is_connected(socket: &S::TcpSocket) -> Result<bool, S::Error>}
|
||||
forward! {write(socket: &mut S::TcpSocket, buffer: &[u8]) -> embedded_nal::nb::Result<usize, S::Error>}
|
||||
forward! {read(socket: &mut S::TcpSocket, buffer: &mut [u8]) -> embedded_nal::nb::Result<usize, S::Error>}
|
||||
forward! {close(socket: S::TcpSocket) -> Result<(), S::Error>}
|
||||
}
|
||||
|
||||
impl NetworkManager {
|
||||
/// Construct a new manager for a shared network stack
|
||||
///
|
||||
/// # Args
|
||||
/// * `stack` - The network stack that is being shared.
|
||||
pub fn new(stack: NetworkStack) -> Self {
|
||||
Self {
|
||||
mutex: AtomicCheckMutex::create(stack),
|
||||
}
|
||||
}
|
||||
|
||||
/// Acquire a proxy to the shared network stack.
|
||||
///
|
||||
/// # Returns
|
||||
/// A proxy that can be used in place of the network stack. Note the requirements of
|
||||
/// concurrency listed in the description of this file for usage.
|
||||
pub fn acquire_stack(&'_ self) -> NetworkStackProxy<'_, NetworkStack> {
|
||||
NetworkStackProxy { mutex: &self.mutex }
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,145 @@
|
|||
///! Stabilizer Telemetry Capabilities
|
||||
///!
|
||||
///! # Design
|
||||
///! Telemetry is reported regularly using an MQTT client. All telemetry is reported in SI units
|
||||
///! using standard JSON format.
|
||||
///!
|
||||
///! In order to report ADC/DAC codes generated during the DSP routines, a telemetry buffer is
|
||||
///! employed to track the latest codes. Converting these codes to SI units would result in
|
||||
///! repetitive and unnecessary calculations within the DSP routine, slowing it down and limiting
|
||||
///! sampling frequency. Instead, the raw codes are stored and the telemetry is generated as
|
||||
///! required immediately before transmission. This ensures that any slower computation required
|
||||
///! for unit conversion can be off-loaded to lower priority tasks.
|
||||
use heapless::{consts, String, Vec};
|
||||
use minimq::QoS;
|
||||
use serde::Serialize;
|
||||
|
||||
use super::NetworkReference;
|
||||
use crate::hardware::{
|
||||
design_parameters::MQTT_BROKER, AdcCode, AfeGain, DacCode,
|
||||
};
|
||||
|
||||
/// The telemetry client for reporting telemetry data over MQTT.
|
||||
pub struct TelemetryClient<T: Serialize> {
|
||||
mqtt: minimq::MqttClient<minimq::consts::U256, NetworkReference>,
|
||||
telemetry_topic: String<consts::U128>,
|
||||
_telemetry: core::marker::PhantomData<T>,
|
||||
}
|
||||
|
||||
/// The telemetry buffer is used for storing sample values during execution.
|
||||
///
|
||||
/// # Note
|
||||
/// These values can be converted to SI units immediately before reporting to save processing time.
|
||||
/// This allows for the DSP process to continually update the values without incurring significant
|
||||
/// run-time overhead during conversion to SI units.
|
||||
#[derive(Copy, Clone)]
|
||||
pub struct TelemetryBuffer {
|
||||
/// The latest input sample on ADC0/ADC1.
|
||||
pub adcs: [AdcCode; 2],
|
||||
/// The latest output code on DAC0/DAC1.
|
||||
pub dacs: [DacCode; 2],
|
||||
/// The latest digital input states during processing.
|
||||
pub digital_inputs: [bool; 2],
|
||||
}
|
||||
|
||||
/// The telemetry structure is data that is ultimately reported as telemetry over MQTT.
|
||||
///
|
||||
/// # Note
|
||||
/// This structure should be generated on-demand by the buffer when required to minimize conversion
|
||||
/// overhead.
|
||||
#[derive(Serialize)]
|
||||
pub struct Telemetry {
|
||||
adcs: [f32; 2],
|
||||
dacs: [f32; 2],
|
||||
digital_inputs: [bool; 2],
|
||||
}
|
||||
|
||||
impl Default for TelemetryBuffer {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
adcs: [AdcCode(0), AdcCode(0)],
|
||||
dacs: [DacCode(0), DacCode(0)],
|
||||
digital_inputs: [false, false],
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl TelemetryBuffer {
|
||||
/// Convert the telemetry buffer to finalized, SI-unit telemetry for reporting.
|
||||
///
|
||||
/// # Args
|
||||
/// * `afe0` - The current AFE configuration for channel 0.
|
||||
/// * `afe1` - The current AFE configuration for channel 1.
|
||||
///
|
||||
/// # Returns
|
||||
/// The finalized telemetry structure that can be serialized and reported.
|
||||
pub fn finalize(self, afe0: AfeGain, afe1: AfeGain) -> Telemetry {
|
||||
let in0_volts = Into::<f32>::into(self.adcs[0]) / afe0.as_multiplier();
|
||||
let in1_volts = Into::<f32>::into(self.adcs[1]) / afe1.as_multiplier();
|
||||
|
||||
Telemetry {
|
||||
adcs: [in0_volts, in1_volts],
|
||||
dacs: [self.dacs[0].into(), self.dacs[1].into()],
|
||||
digital_inputs: self.digital_inputs,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl<T: Serialize> TelemetryClient<T> {
|
||||
/// Construct a new telemetry client.
|
||||
///
|
||||
/// # Args
|
||||
/// * `stack` - A reference to the (shared) underlying network stack.
|
||||
/// * `client_id` - The MQTT client ID of the telemetry client.
|
||||
/// * `prefix` - The device prefix to use for MQTT telemetry reporting.
|
||||
///
|
||||
/// # Returns
|
||||
/// A new telemetry client.
|
||||
pub fn new(stack: NetworkReference, client_id: &str, prefix: &str) -> Self {
|
||||
let mqtt =
|
||||
minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
|
||||
.unwrap();
|
||||
|
||||
let mut telemetry_topic: String<consts::U128> = String::from(prefix);
|
||||
telemetry_topic.push_str("/telemetry").unwrap();
|
||||
|
||||
Self {
|
||||
mqtt,
|
||||
telemetry_topic,
|
||||
_telemetry: core::marker::PhantomData::default(),
|
||||
}
|
||||
}
|
||||
|
||||
/// Publish telemetry over MQTT
|
||||
///
|
||||
/// # Note
|
||||
/// Telemetry is reported in a "best-effort" fashion. Failure to transmit telemetry will cause
|
||||
/// it to be silently dropped.
|
||||
///
|
||||
/// # Args
|
||||
/// * `telemetry` - The telemetry to report
|
||||
pub fn publish(&mut self, telemetry: &T) {
|
||||
let telemetry: Vec<u8, consts::U256> =
|
||||
serde_json_core::to_vec(telemetry).unwrap();
|
||||
self.mqtt
|
||||
.publish(&self.telemetry_topic, &telemetry, QoS::AtMostOnce, &[])
|
||||
.ok();
|
||||
}
|
||||
|
||||
/// Update the telemetry client
|
||||
///
|
||||
/// # Note
|
||||
/// This function is provided to force the underlying MQTT state machine to process incoming
|
||||
/// and outgoing messages. Without this, the client will never connect to the broker. This
|
||||
/// should be called regularly.
|
||||
pub fn update(&mut self) {
|
||||
match self.mqtt.poll(|_client, _topic, _message, _properties| {}) {
|
||||
Err(minimq::Error::Network(
|
||||
smoltcp_nal::NetworkError::NoIpAddress,
|
||||
)) => {}
|
||||
|
||||
Err(error) => log::info!("Unexpected error: {:?}", error),
|
||||
_ => {}
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue