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rtfm: command port

This commit is contained in:
Robert Jördens 2019-06-03 15:06:11 +00:00
parent 2b9a02d98e
commit 6c973038b4
1 changed files with 68 additions and 63 deletions
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131
src/main.rs
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@ -13,10 +13,10 @@ extern crate panic_semihosting;
extern crate log; extern crate log;
use core::ptr; use core::ptr;
use core::sync::atomic::{AtomicU32, AtomicBool, Ordering}; // use core::sync::atomic::{AtomicU32, AtomicBool, Ordering};
use core::fmt::Write; use core::fmt::Write;
use cortex_m_rt::{exception}; use cortex_m_rt::exception;
use stm32h7::stm32h7x3::{self as stm32, interrupt}; use stm32h7::stm32h7x3 as pac;
use heapless::{String, Vec, consts::*}; use heapless::{String, Vec, consts::*};
use smoltcp as net; use smoltcp as net;
@ -55,7 +55,7 @@ mod build_info {
// include!(concat!(env!("OUT_DIR"), "/built.rs")); // include!(concat!(env!("OUT_DIR"), "/built.rs"));
} }
fn pwr_setup(pwr: &stm32::PWR) { fn pwr_setup(pwr: &pac::PWR) {
// go to VOS1 voltage scale for high perf // go to VOS1 voltage scale for high perf
pwr.cr3.write(|w| pwr.cr3.write(|w|
w.scuen().set_bit() w.scuen().set_bit()
@ -67,7 +67,7 @@ fn pwr_setup(pwr: &stm32::PWR) {
while pwr.d3cr.read().vosrdy().bit_is_clear() {} while pwr.d3cr.read().vosrdy().bit_is_clear() {}
} }
fn rcc_reset(rcc: &stm32::RCC) { fn rcc_reset(rcc: &pac::RCC) {
// Reset all peripherals // Reset all peripherals
rcc.ahb1rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) }); rcc.ahb1rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.ahb1rstr.write(|w| unsafe { w.bits(0)}); rcc.ahb1rstr.write(|w| unsafe { w.bits(0)});
@ -93,7 +93,7 @@ fn rcc_reset(rcc: &stm32::RCC) {
rcc.apb4rstr.write(|w| unsafe { w.bits(0)}); rcc.apb4rstr.write(|w| unsafe { w.bits(0)});
} }
fn rcc_pll_setup(rcc: &stm32::RCC, flash: &stm32::FLASH) { fn rcc_pll_setup(rcc: &pac::RCC, flash: &pac::FLASH) {
// Switch to HSI to mess with HSE // Switch to HSI to mess with HSE
rcc.cr.modify(|_, w| w.hsion().on()); rcc.cr.modify(|_, w| w.hsion().on());
while rcc.cr.read().hsirdy().is_not_ready() {} while rcc.cr.read().hsirdy().is_not_ready() {}
@ -179,7 +179,7 @@ fn rcc_pll_setup(rcc: &stm32::RCC, flash: &stm32::FLASH) {
rcc.d3ccipr.modify(|_, w| w.spi6sel().pll2_q()); rcc.d3ccipr.modify(|_, w| w.spi6sel().pll2_q());
} }
fn io_compensation_setup(syscfg: &stm32::SYSCFG) { fn io_compensation_setup(syscfg: &pac::SYSCFG) {
syscfg.cccsr.modify(|_, w| syscfg.cccsr.modify(|_, w|
w.en().set_bit() w.en().set_bit()
.cs().clear_bit() .cs().clear_bit()
@ -188,8 +188,8 @@ fn io_compensation_setup(syscfg: &stm32::SYSCFG) {
while syscfg.cccsr.read().ready().bit_is_clear() {} while syscfg.cccsr.read().ready().bit_is_clear() {}
} }
fn gpio_setup(gpioa: &stm32::GPIOA, gpiob: &stm32::GPIOB, gpiod: &stm32::GPIOD, fn gpio_setup(gpioa: &pac::GPIOA, gpiob: &pac::GPIOB, gpiod: &pac::GPIOD,
gpioe: &stm32::GPIOE, gpiof: &stm32::GPIOF, gpiog: &stm32::GPIOG) { gpioe: &pac::GPIOE, gpiof: &pac::GPIOF, gpiog: &pac::GPIOG) {
// FP_LED0 // FP_LED0
gpiod.otyper.modify(|_, w| w.ot5().push_pull()); gpiod.otyper.modify(|_, w| w.ot5().push_pull());
gpiod.moder.modify(|_, w| w.moder5().output()); gpiod.moder.modify(|_, w| w.moder5().output());
@ -323,7 +323,7 @@ fn gpio_setup(gpioa: &stm32::GPIOA, gpiob: &stm32::GPIOB, gpiod: &stm32::GPIOD,
} }
// ADC0 // ADC0
fn spi1_setup(spi1: &stm32::SPI1) { fn spi1_setup(spi1: &pac::SPI1) {
spi1.cfg1.modify(|_, w| spi1.cfg1.modify(|_, w|
w.mbr().div4() w.mbr().div4()
.dsize().bits(16 - 1) .dsize().bits(16 - 1)
@ -350,7 +350,7 @@ fn spi1_setup(spi1: &stm32::SPI1) {
} }
// ADC1 // ADC1
fn spi5_setup(spi5: &stm32::SPI5) { fn spi5_setup(spi5: &pac::SPI5) {
spi5.cfg1.modify(|_, w| spi5.cfg1.modify(|_, w|
w.mbr().div4() w.mbr().div4()
.dsize().bits(16 - 1) .dsize().bits(16 - 1)
@ -377,7 +377,7 @@ fn spi5_setup(spi5: &stm32::SPI5) {
} }
// DAC0 // DAC0
fn spi2_setup(spi2: &stm32::SPI2) { fn spi2_setup(spi2: &pac::SPI2) {
spi2.cfg1.modify(|_, w| spi2.cfg1.modify(|_, w|
w.mbr().div2() w.mbr().div2()
.dsize().bits(16 - 1) .dsize().bits(16 - 1)
@ -405,7 +405,7 @@ fn spi2_setup(spi2: &stm32::SPI2) {
} }
// DAC1 // DAC1
fn spi4_setup(spi4: &stm32::SPI4) { fn spi4_setup(spi4: &pac::SPI4) {
spi4.cfg1.modify(|_, w| spi4.cfg1.modify(|_, w|
w.mbr().div2() w.mbr().div2()
.dsize().bits(16 - 1) .dsize().bits(16 - 1)
@ -432,7 +432,7 @@ fn spi4_setup(spi4: &stm32::SPI4) {
spi4.cr1.modify(|_, w| w.cstart().started()); spi4.cr1.modify(|_, w| w.cstart().started());
} }
fn tim2_setup(tim2: &stm32::TIM2) { fn tim2_setup(tim2: &pac::TIM2) {
tim2.psc.write(|w| unsafe { w.psc().bits(200 - 1) }); // from 200 MHz tim2.psc.write(|w| unsafe { w.psc().bits(200 - 1) }); // from 200 MHz
tim2.arr.write(|w| unsafe { w.bits(2 - 1) }); // µs tim2.arr.write(|w| unsafe { w.bits(2 - 1) }); // µs
tim2.dier.write(|w| w.ude().set_bit()); tim2.dier.write(|w| w.ude().set_bit());
@ -442,7 +442,7 @@ fn tim2_setup(tim2: &stm32::TIM2) {
.cen().set_bit()); // enable .cen().set_bit()); // enable
} }
fn dma1_setup(dma1: &stm32::DMA1, dmamux1: &stm32::DMAMUX1, ma: usize, pa0: usize, pa1: usize) { fn dma1_setup(dma1: &pac::DMA1, dmamux1: &pac::DMAMUX1, ma: usize, pa0: usize, pa1: usize) {
dma1.st[0].cr.modify(|_, w| w.en().clear_bit()); dma1.st[0].cr.modify(|_, w| w.en().clear_bit());
while dma1.st[0].cr.read().en().bit_is_set() {} while dma1.st[0].cr.read().en().bit_is_set() {}
@ -495,7 +495,7 @@ const SCALE: f32 = ((1 << 15) - 1) as f32;
#[link_section = ".sram1.datspi"] #[link_section = ".sram1.datspi"]
static mut DAT: u32 = 0x201; // EN | CSTART static mut DAT: u32 = 0x201; // EN | CSTART
static ETHERNET_PENDING: AtomicBool = AtomicBool::new(true); // static ETHERNET_PENDING: AtomicBool = AtomicBool::new(true);
const TCP_RX_BUFFER_SIZE: usize = 8192; const TCP_RX_BUFFER_SIZE: usize = 8192;
const TCP_TX_BUFFER_SIZE: usize = 8192; const TCP_TX_BUFFER_SIZE: usize = 8192;
@ -513,8 +513,8 @@ macro_rules! create_socket {
#[rtfm::app(device = stm32h7::stm32h7x3)] #[rtfm::app(device = stm32h7::stm32h7x3)]
const APP: () = { const APP: () = {
static SPI: (stm32::SPI1, stm32::SPI2, stm32::SPI4, stm32::SPI5) = (); static SPI: (pac::SPI1, pac::SPI2, pac::SPI4, pac::SPI5) = ();
static ETHERNET_PERIPH: (stm32::ETHERNET_MAC, stm32::ETHERNET_DMA, stm32::ETHERNET_MTL) = (); static ETHERNET_PERIPH: (pac::ETHERNET_MAC, pac::ETHERNET_DMA, pac::ETHERNET_MTL) = ();
static mut IIR_STATE: [IIRState; 2] = [[0.; 5]; 2]; static mut IIR_STATE: [IIRState; 2] = [[0.; 5]; 2];
static mut IIR_CH: [IIR; 2] = [ static mut IIR_CH: [IIR; 2] = [
@ -609,7 +609,7 @@ const APP: () = {
eth::setup(&rcc, &dp.SYSCFG); eth::setup(&rcc, &dp.SYSCFG);
eth::setup_pins(&dp.GPIOA, &dp.GPIOB, &dp.GPIOC, &dp.GPIOG); eth::setup_pins(&dp.GPIOA, &dp.GPIOB, &dp.GPIOC, &dp.GPIOG);
c.schedule.tick(rtfm::Instant::now()).unwrap(); // c.schedule.tick(rtfm::Instant::now()).unwrap();
init::LateResources { init::LateResources {
SPI: (spi1, spi2, spi4, spi5), SPI: (spi1, spi2, spi4, spi5),
@ -617,7 +617,7 @@ const APP: () = {
} }
} }
#[idle(resources = [ETHERNET, ETHERNET_PERIPH, IIR_STATE])] #[idle(resources = [ETHERNET, ETHERNET_PERIPH, IIR_STATE, IIR_CH])]
fn idle(c: idle::Context) -> ! { fn idle(c: idle::Context) -> ! {
let (MAC, DMA, MTL) = c.resources.ETHERNET_PERIPH; let (MAC, DMA, MTL) = c.resources.ETHERNET_PERIPH;
@ -638,23 +638,26 @@ const APP: () = {
create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle1); create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle1);
// unsafe { eth::enable_interrupt(DMA); } // unsafe { eth::enable_interrupt(DMA); }
let mut last = 0u32; let mut time = 0u32;
let mut last_iter = rtfm::Instant::now(); let mut next_ms = rtfm::Instant::now();
//let mut server = Server::new(); next_ms += 200_000.cycles();
let mut server = Server::new();
let mut iir_state: resources::IIR_STATE = c.resources.IIR_STATE; let mut iir_state: resources::IIR_STATE = c.resources.IIR_STATE;
let mut iir_ch: resources::IIR_CH = c.resources.IIR_CH;
loop { loop {
// if ETHERNET_PENDING.swap(false, Ordering::Relaxed) { } // if ETHERNET_PENDING.swap(false, Ordering::Relaxed) { }
let mut time = last; let tick = rtfm::Instant::now() > next_ms;
if rtfm::Instant::now() >= last_iter + 200_000.cycles() { if tick {
last_iter += 200_000.cycles(); next_ms += 200_000.cycles();
time += 1; time += 1;
} }
{ {
let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle0); let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle0);
if !(socket.is_open() || socket.is_listening()) { if socket.state() == net::socket::TcpState::CloseWait {
socket.close();
} else if !(socket.is_open() || socket.is_listening()) {
socket.listen(1234).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e)); socket.listen(1234).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
} else if time != last && socket.can_send() { } else if tick && socket.can_send() {
last = time;
let s = iir_state.lock(|iir_state| Status { let s = iir_state.lock(|iir_state| Status {
t: time, t: time,
x0: iir_state[0][0], x0: iir_state[0][0],
@ -662,15 +665,21 @@ const APP: () = {
x1: iir_state[1][0], x1: iir_state[1][0],
y1: iir_state[1][2] y1: iir_state[1][2]
}); });
reply(socket, &s); json_reply(socket, &s);
} }
} }
{ {
let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle1); let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle1);
if !(socket.is_open() || socket.is_listening()) { if socket.state() == net::socket::TcpState::CloseWait {
socket.close();
} else if !(socket.is_open() || socket.is_listening()) {
socket.listen(1235).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e)); socket.listen(1235).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
} else { } else {
//server.handle_command(socket); server.poll(socket, |req| {
if req.channel < 2 {
iir_ch.lock(|iir_ch| iir_ch[req.channel as usize] = req.iir);
}
});
} }
} }
@ -772,23 +781,24 @@ struct Status {
y1: f32 y1: f32
} }
struct Server { fn json_reply<T: Serialize>(socket: &mut net::socket::TcpSocket, msg: &T) {
data: Vec<u8, U256>,
discard: bool,
}
fn reply<T: Serialize>(socket: &mut net::socket::TcpSocket, msg: &T) {
let mut u: String<U128> = to_string(msg).unwrap(); let mut u: String<U128> = to_string(msg).unwrap();
u.push('\n').unwrap(); u.push('\n').unwrap();
socket.write_str(&u).unwrap(); socket.write_str(&u).unwrap();
} }
struct Server {
data: Vec<u8, U256>,
discard: bool,
}
impl Server { impl Server {
fn new() -> Self { fn new() -> Self {
Self { data: Vec::new(), discard: false } Self { data: Vec::new(), discard: false }
} }
fn handle_command(&mut self, socket: &mut net::socket::TcpSocket) { fn poll<F: FnOnce(&Request)>(
&mut self, socket: &mut net::socket::TcpSocket, f: F) {
while socket.can_recv() { while socket.can_recv() {
let found = socket.recv(|buf| { let found = socket.recv(|buf| {
let (len, found) = match buf.iter().position(|&c| c as char == '\n') { let (len, found) = match buf.iter().position(|&c| c as char == '\n') {
@ -803,31 +813,26 @@ impl Server {
} }
(len, found) (len, found)
}).unwrap(); }).unwrap();
if !found { if found {
continue; if self.discard {
} self.discard = false;
let resp = if self.discard { json_reply(socket, &Response { code: 520, message: "command buffer overflow" });
self.discard = false; } else {
Response{ code: 520, message: "command buffer overflow" } let r = from_slice::<Request>(&self.data);
} else { self.data.clear();
match from_slice::<Request>(&self.data) { match r {
Ok(request) => { Ok(res) => {
if request.channel > 1 { f(&res);
Response{ code: 530, message: "invalid channel" } json_reply(socket, &Response{ code: 200, message: "ok" });
} else { return;
//unsafe { IIR_CH[request.channel as usize] = request.iir; }; },
Response{ code: 200, message: "ok" } Err(err) => {
} warn!("parse error {:?}", err);
}, json_reply(socket, &Response { code: 550, message: "parse error" });
Err(err) => { },
warn!("parse error {:?}", err); }
Response{ code: 550, message: "parse error" }
},
} }
}; }
self.data.clear();
reply(socket, &resp);
socket.close();
} }
} }
} }