Merge branch 'master' into rj/fast-dbm
* master: adapt to new heapless/serde-json-core after const-generics Bump serde-json-core from 0.3.0 to 0.4.0 build(deps): bump heapless from 0.6.1 to 0.7.1 setup: cleanup itcm: add some comments, make it safe build(deps): bump ndarray from 0.15.1 to 0.15.2 Updating dependencies Updating the embedded-nal Removing spurious settings updates deps: add rationales for git dependencies itcm: implement in rust and execute during setup() remove duplicate linker option gha: install gcc fmt dependencies: align with master bump cortex-m-rt to 0.6.13+git memory.x: remove comment about old cortex-m-rt enable itcm/dtcm explicitly load process into itcm
This commit is contained in:
commit
73187ba053
93
Cargo.lock
generated
93
Cargo.lock
generated
@ -42,6 +42,15 @@ dependencies = [
|
||||
"embedded-hal",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "atomic-polyfill"
|
||||
version = "0.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "30302dda7a66f8c55932ebf208f7def840743ff64d495e9ceffcd97c18f11d39"
|
||||
dependencies = [
|
||||
"cortex-m 0.7.2",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "autocfg"
|
||||
version = "1.0.1"
|
||||
@ -136,18 +145,15 @@ dependencies = [
|
||||
[[package]]
|
||||
name = "cortex-m-rt"
|
||||
version = "0.6.13"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "980c9d0233a909f355ed297ef122f257942de5e0a2cb1c39f60684b65bcb90fb"
|
||||
source = "git+https://github.com/rust-embedded/cortex-m-rt.git?rev=a2e3ad5#a2e3ad54478c6b98e519a1b0946395d790c0b6c7"
|
||||
dependencies = [
|
||||
"cortex-m-rt-macros",
|
||||
"r0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rt-macros"
|
||||
version = "0.1.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "4717562afbba06e760d34451919f5c3bf3ac15c7bb897e8b04862a7428378647"
|
||||
version = "0.6.11"
|
||||
source = "git+https://github.com/rust-embedded/cortex-m-rt.git?rev=a2e3ad5#a2e3ad54478c6b98e519a1b0946395d790c0b6c7"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
@ -194,7 +200,7 @@ dependencies = [
|
||||
[[package]]
|
||||
name = "derive_miniconf"
|
||||
version = "0.1.0"
|
||||
source = "git+https://github.com/quartiq/miniconf.git?rev=c6f2b28#c6f2b28f735e27b337eaa986846536e904c6f2bd"
|
||||
source = "git+https://github.com/quartiq/miniconf.git?rev=2750533#275053396f0334e9efefa1ab2aae4c19b95a9a53"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
@ -240,11 +246,11 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "embedded-nal"
|
||||
version = "0.1.0"
|
||||
version = "0.6.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ae46eb1b02de5a76d9d0ea21d657ff5b0ad2cc47f3a7723608227b1dd1b3eb18"
|
||||
checksum = "db9efecb57ab54fa918730f2874d7d37647169c50fa1357fecb81abee840b113"
|
||||
dependencies = [
|
||||
"heapless 0.5.6",
|
||||
"heapless 0.7.1",
|
||||
"nb 1.0.0",
|
||||
"no-std-net",
|
||||
]
|
||||
@ -317,24 +323,21 @@ dependencies = [
|
||||
"byteorder",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "hash32"
|
||||
version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "hashbrown"
|
||||
version = "0.9.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d7afe4a420e3fe79967a00898cc1f4db7c8a49a9333a29f8a4bd76a253d5cd04"
|
||||
|
||||
[[package]]
|
||||
name = "heapless"
|
||||
version = "0.5.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "74911a68a1658cfcfb61bc0ccfbd536e3b6e906f8c2f7883ee50157e3e2184f1"
|
||||
dependencies = [
|
||||
"as-slice",
|
||||
"generic-array 0.13.3",
|
||||
"hash32",
|
||||
"stable_deref_trait",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "heapless"
|
||||
version = "0.6.1"
|
||||
@ -343,7 +346,18 @@ checksum = "634bd4d29cbf24424d0a4bfcbf80c6960129dc24424752a7d1d1390607023422"
|
||||
dependencies = [
|
||||
"as-slice",
|
||||
"generic-array 0.14.4",
|
||||
"hash32",
|
||||
"hash32 0.1.1",
|
||||
"stable_deref_trait",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "heapless"
|
||||
version = "0.7.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c7ee8a997d259962217f40279f34201fdf06e669bafa69d7c1f4c7ff1893b5f6"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"hash32 0.2.1",
|
||||
"serde",
|
||||
"stable_deref_trait",
|
||||
]
|
||||
@ -399,7 +413,7 @@ dependencies = [
|
||||
[[package]]
|
||||
name = "miniconf"
|
||||
version = "0.1.0"
|
||||
source = "git+https://github.com/quartiq/miniconf.git?rev=c6f2b28#c6f2b28f735e27b337eaa986846536e904c6f2bd"
|
||||
source = "git+https://github.com/quartiq/miniconf.git?rev=2750533#275053396f0334e9efefa1ab2aae4c19b95a9a53"
|
||||
dependencies = [
|
||||
"derive_miniconf",
|
||||
"serde",
|
||||
@ -409,13 +423,12 @@ dependencies = [
|
||||
[[package]]
|
||||
name = "minimq"
|
||||
version = "0.2.0"
|
||||
source = "git+https://github.com/quartiq/minimq.git?rev=d2ec3e8#d2ec3e8351fa403ea96defd98c0b4410cbaa18a4"
|
||||
source = "git+https://github.com/quartiq/minimq.git?rev=dbdbec0#dbdbec0b77d2e134dc6c025018a82c14cbdfbe34"
|
||||
dependencies = [
|
||||
"bit_field",
|
||||
"embedded-nal",
|
||||
"enum-iterator",
|
||||
"generic-array 0.14.4",
|
||||
"heapless 0.6.1",
|
||||
"heapless 0.7.1",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -441,9 +454,9 @@ checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
|
||||
|
||||
[[package]]
|
||||
name = "ndarray"
|
||||
version = "0.15.1"
|
||||
version = "0.15.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "cc1372704f14bb132a49a6701c2238970a359ee0829fed481b522a63bf25456a"
|
||||
checksum = "02b2e4807aaa21dc6dcc3417e5902dc199c3648043bf27b7af4b202332fe4760"
|
||||
dependencies = [
|
||||
"matrixmultiply",
|
||||
"num-complex",
|
||||
@ -454,9 +467,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "no-std-net"
|
||||
version = "0.4.0"
|
||||
version = "0.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2178127478ae4ee9be7180bc9c3bffb6354dd7238400db567102f98c413a9f35"
|
||||
checksum = "1bcece43b12349917e096cddfa66107277f123e6c96a5aea78711dc601a47152"
|
||||
|
||||
[[package]]
|
||||
name = "num"
|
||||
@ -572,12 +585,6 @@ dependencies = [
|
||||
"proc-macro2",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "r0"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
|
||||
|
||||
[[package]]
|
||||
name = "rand"
|
||||
version = "0.8.3"
|
||||
@ -701,11 +708,11 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "serde-json-core"
|
||||
version = "0.3.0"
|
||||
version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "39af17f40c2a28d2c9a7918663ddc8a10f54cc6f109ead5c3f010869761df186"
|
||||
checksum = "8014aeea272bca0f0779778d43253f2f3375b414185b30e6ecc4d3e4a9994781"
|
||||
dependencies = [
|
||||
"heapless 0.6.1",
|
||||
"heapless 0.7.1",
|
||||
"ryu",
|
||||
"serde",
|
||||
]
|
||||
@ -745,10 +752,10 @@ dependencies = [
|
||||
[[package]]
|
||||
name = "smoltcp-nal"
|
||||
version = "0.1.0"
|
||||
source = "git+https://github.com/quartiq/smoltcp-nal.git?rev=4a1711c#4a1711c54cdf79f5ee8c1c99a1e8984f5944270c"
|
||||
source = "git+https://github.com/quartiq/smoltcp-nal.git?rev=5e56576#5e56576fbbc594f0a0e1df9222a20eb35c8e7511"
|
||||
dependencies = [
|
||||
"embedded-nal",
|
||||
"heapless 0.6.1",
|
||||
"heapless 0.7.1",
|
||||
"nanorand",
|
||||
"smoltcp",
|
||||
]
|
||||
@ -764,7 +771,7 @@ dependencies = [
|
||||
"cortex-m-rtic",
|
||||
"dsp",
|
||||
"embedded-hal",
|
||||
"heapless 0.6.1",
|
||||
"heapless 0.7.1",
|
||||
"log",
|
||||
"mcp23017",
|
||||
"miniconf",
|
||||
|
||||
17
Cargo.toml
17
Cargo.toml
@ -33,7 +33,7 @@ cortex-m-rt = { version = "0.6", features = ["device"] }
|
||||
log = { version = "0.4", features = ["max_level_trace", "release_max_level_info"] }
|
||||
rtt-target = { version = "0.3", features = ["cortex-m"] }
|
||||
serde = { version = "1.0", features = ["derive"], default-features = false }
|
||||
heapless = { version = "0.6", features = ["serde"] }
|
||||
heapless = { version = "0.7", features = ["serde"] }
|
||||
cortex-m-rtic = "0.5.6"
|
||||
embedded-hal = "0.2.5"
|
||||
nb = "1.0.0"
|
||||
@ -44,12 +44,14 @@ dsp = { path = "dsp" }
|
||||
ad9959 = { path = "ad9959" }
|
||||
miniconf = "0.1.0"
|
||||
shared-bus = {version = "0.2.2", features = ["cortex-m"] }
|
||||
serde-json-core = "0.3"
|
||||
serde-json-core = "0.4"
|
||||
|
||||
# rtt-target bump
|
||||
[dependencies.rtt-logger]
|
||||
git = "https://github.com/quartiq/rtt-logger.git"
|
||||
rev = "70b0eb5"
|
||||
|
||||
# rewrite
|
||||
[dependencies.mcp23017]
|
||||
git = "https://github.com/lucazulian/mcp23017.git"
|
||||
rev = "523d71d"
|
||||
@ -60,17 +62,22 @@ features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
|
||||
git = "https://github.com/quartiq/stm32h7xx-hal.git"
|
||||
rev = "cca4ecc"
|
||||
|
||||
# link.x section start/end
|
||||
[patch.crates-io.cortex-m-rt]
|
||||
git = "https://github.com/rust-embedded/cortex-m-rt.git"
|
||||
rev = "a2e3ad5"
|
||||
|
||||
[patch.crates-io.miniconf]
|
||||
git = "https://github.com/quartiq/miniconf.git"
|
||||
rev = "c6f2b28"
|
||||
rev = "2750533"
|
||||
|
||||
[dependencies.smoltcp-nal]
|
||||
git = "https://github.com/quartiq/smoltcp-nal.git"
|
||||
rev = "4a1711c"
|
||||
rev = "5e56576"
|
||||
|
||||
[dependencies.minimq]
|
||||
git = "https://github.com/quartiq/minimq.git"
|
||||
rev = "d2ec3e8"
|
||||
rev = "dbdbec0"
|
||||
|
||||
[features]
|
||||
nightly = ["cortex-m/inline-asm", "dsp/nightly"]
|
||||
|
||||
3
build.rs
Normal file
3
build.rs
Normal file
@ -0,0 +1,3 @@
|
||||
fn main() {
|
||||
println!("cargo:rerun-if-changed=memory.x");
|
||||
}
|
||||
20
memory.x
20
memory.x
@ -13,10 +13,6 @@ MEMORY
|
||||
}
|
||||
|
||||
SECTIONS {
|
||||
.itcm : ALIGN(8) {
|
||||
*(.itcm .itcm.*);
|
||||
. = ALIGN(8);
|
||||
} > ITCM
|
||||
.axisram (NOLOAD) : ALIGN(8) {
|
||||
*(.axisram .axisram.*);
|
||||
. = ALIGN(8);
|
||||
@ -33,4 +29,18 @@ SECTIONS {
|
||||
*(.sram3 .sram3.*);
|
||||
. = ALIGN(4);
|
||||
} > SRAM3
|
||||
} INSERT AFTER .bss;
|
||||
.itcm : ALIGN(8) {
|
||||
. = ALIGN(8);
|
||||
__sitcm = .;
|
||||
*(.itcm .itcm.*);
|
||||
. = ALIGN(8);
|
||||
__eitcm = .;
|
||||
} > ITCM AT>FLASH
|
||||
__siitcm = LOADADDR(.itcm);
|
||||
} INSERT AFTER .uninit;
|
||||
|
||||
ASSERT(__sitcm % 8 == 0 && __eitcm % 8 == 0, "
|
||||
BUG(cortex-m-rt): .itcm is not 8-byte aligned");
|
||||
|
||||
ASSERT(__siitcm % 4 == 0, "
|
||||
BUG(cortex-m-rt): the LMA of .itcm is not 4-byte aligned");
|
||||
|
||||
@ -15,7 +15,7 @@ use hardware::{
|
||||
DigitalInput0, DigitalInput1, InputPin, SystemTimer, AFE0, AFE1,
|
||||
};
|
||||
|
||||
use net::{NetworkUsers, Telemetry, TelemetryBuffer, UpdateState};
|
||||
use net::{NetworkState, NetworkUsers, Telemetry, TelemetryBuffer};
|
||||
|
||||
const SCALE: f32 = i16::MAX as _;
|
||||
|
||||
@ -131,6 +131,8 @@ const APP: () = {
|
||||
/// Because the ADC and DAC operate at the same rate, these two constraints actually implement
|
||||
/// the same time bounds, meeting one also means the other is also met.
|
||||
#[task(binds=DMA1_STR4, resources=[adcs, digital_inputs, dacs, iir_state, settings, telemetry], priority=2)]
|
||||
#[inline(never)]
|
||||
#[link_section = ".itcm.process"]
|
||||
fn process(mut c: process::Context) {
|
||||
let process::Resources {
|
||||
adcs: (ref mut adc0, ref mut adc1),
|
||||
@ -194,8 +196,11 @@ const APP: () = {
|
||||
fn idle(mut c: idle::Context) -> ! {
|
||||
loop {
|
||||
match c.resources.network.lock(|net| net.update()) {
|
||||
UpdateState::Updated => c.spawn.settings_update().unwrap(),
|
||||
UpdateState::NoChange => cortex_m::asm::wfi(),
|
||||
NetworkState::SettingsChanged => {
|
||||
c.spawn.settings_update().unwrap()
|
||||
}
|
||||
NetworkState::Updated => {}
|
||||
NetworkState::NoChange => cortex_m::asm::wfi(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -17,7 +17,7 @@ use stabilizer::hardware::{
|
||||
};
|
||||
|
||||
use miniconf::Miniconf;
|
||||
use net::{NetworkUsers, Telemetry, TelemetryBuffer, UpdateState};
|
||||
use net::{NetworkState, NetworkUsers, Telemetry, TelemetryBuffer};
|
||||
|
||||
// A constant sinusoid to send on the DAC output.
|
||||
// Full-scale gives a +/- 10.24V amplitude waveform. Scale it down to give +/- 1V.
|
||||
@ -157,6 +157,8 @@ const APP: () = {
|
||||
/// 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, telemetry], priority=2)]
|
||||
#[inline(never)]
|
||||
#[link_section = ".itcm.process"]
|
||||
fn process(c: process::Context) {
|
||||
let adc_samples = [
|
||||
c.resources.adcs.0.acquire_buffer(),
|
||||
@ -248,8 +250,11 @@ const APP: () = {
|
||||
fn idle(mut c: idle::Context) -> ! {
|
||||
loop {
|
||||
match c.resources.network.lock(|net| net.update()) {
|
||||
UpdateState::Updated => c.spawn.settings_update().unwrap(),
|
||||
UpdateState::NoChange => cortex_m::asm::wfi(),
|
||||
NetworkState::SettingsChanged => {
|
||||
c.spawn.settings_update().unwrap()
|
||||
}
|
||||
NetworkState::Updated => {}
|
||||
NetworkState::NoChange => cortex_m::asm::wfi(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -9,7 +9,7 @@ use stm32h7xx_hal::{
|
||||
|
||||
const NUM_SOCKETS: usize = 4;
|
||||
|
||||
use heapless::{consts, Vec};
|
||||
use heapless::Vec;
|
||||
use smoltcp_nal::smoltcp;
|
||||
|
||||
use embedded_hal::digital::v2::{InputPin, OutputPin};
|
||||
@ -105,6 +105,52 @@ pub struct PounderDevices {
|
||||
/// Static storage for the ethernet DMA descriptor ring.
|
||||
static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
|
||||
|
||||
/// Setup ITCM and load its code from flash.
|
||||
///
|
||||
/// For portability and maintainability this is implemented in Rust.
|
||||
/// Since this is implemented in Rust the compiler may assume that bss and data are set
|
||||
/// up already. There is no easy way to ensure this implementation will never need bss
|
||||
/// or data. Hence we can't safely run this as the cortex-m-rt `pre_init` hook before
|
||||
/// bss/data is setup.
|
||||
///
|
||||
/// Calling (through IRQ or directly) any code in ITCM before having called
|
||||
/// this method is undefined.
|
||||
fn load_itcm() {
|
||||
extern "C" {
|
||||
static mut __sitcm: u32;
|
||||
static mut __eitcm: u32;
|
||||
static mut __siitcm: u32;
|
||||
}
|
||||
use core::{ptr, slice, sync::atomic};
|
||||
|
||||
// NOTE(unsafe): Assuming the address symbols from the linker as well as
|
||||
// the source instruction data are all valid, this is safe as it only
|
||||
// copies linker-prepared data to where the code expects it to be.
|
||||
// Calling it multiple times is safe as well.
|
||||
|
||||
unsafe {
|
||||
// ITCM is enabled on reset on our CPU but might not be on others.
|
||||
// Keep for completeness.
|
||||
const ITCMCR: *mut u32 = 0xE000_EF90usize as _;
|
||||
ptr::write_volatile(ITCMCR, ptr::read_volatile(ITCMCR) | 1);
|
||||
|
||||
// Ensure ITCM is enabled before loading.
|
||||
atomic::fence(atomic::Ordering::SeqCst);
|
||||
|
||||
let len =
|
||||
(&__eitcm as *const u32).offset_from(&__sitcm as *const _) as usize;
|
||||
let dst = slice::from_raw_parts_mut(&mut __sitcm as *mut _, len);
|
||||
let src = slice::from_raw_parts(&__siitcm as *const _, len);
|
||||
// Load code into ITCM.
|
||||
dst.copy_from_slice(src);
|
||||
}
|
||||
|
||||
// Ensure ITCM is loaded before potentially executing any instructions from it.
|
||||
atomic::fence(atomic::Ordering::SeqCst);
|
||||
cortex_m::asm::dsb();
|
||||
cortex_m::asm::isb();
|
||||
}
|
||||
|
||||
/// Configure the stabilizer hardware for operation.
|
||||
///
|
||||
/// # Args
|
||||
@ -157,9 +203,12 @@ pub fn setup(
|
||||
log::set_logger(&LOGGER)
|
||||
.map(|()| log::set_max_level(log::LevelFilter::Trace))
|
||||
.unwrap();
|
||||
log::info!("starting...");
|
||||
log::info!("Starting");
|
||||
}
|
||||
|
||||
// Before being able to call any code in ITCM, load that code from flash.
|
||||
load_itcm();
|
||||
|
||||
// Set up the system timer for RTIC scheduling.
|
||||
{
|
||||
let tim15 =
|
||||
@ -593,7 +642,7 @@ pub fn setup(
|
||||
let mut sockets =
|
||||
smoltcp::socket::SocketSet::new(&mut store.sockets[..]);
|
||||
|
||||
let mut handles: Vec<smoltcp::socket::SocketHandle, consts::U64> =
|
||||
let mut handles: Vec<smoltcp::socket::SocketHandle, 64> =
|
||||
Vec::new();
|
||||
for storage in store.socket_storage.iter_mut() {
|
||||
let tcp_socket = {
|
||||
@ -872,6 +921,7 @@ pub fn setup(
|
||||
|
||||
#[cfg(feature = "pounder_v1_1")]
|
||||
let pounder_stamper = {
|
||||
log::info!("Assuming Pounder v1.1 or later");
|
||||
let etr_pin = gpioa.pa0.into_alternate_af3();
|
||||
|
||||
// The frequency in the constructor is dont-care, as we will modify the period + clock
|
||||
@ -934,13 +984,13 @@ pub fn setup(
|
||||
digital_inputs,
|
||||
};
|
||||
|
||||
// Enable the instruction cache.
|
||||
core.SCB.enable_icache();
|
||||
|
||||
// info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
|
||||
// info!("Built on {}", build_info::BUILT_TIME_UTC);
|
||||
// info!("{} {}", build_info::RUSTC_VERSION, build_info::TARGET);
|
||||
log::info!("setup() complete");
|
||||
|
||||
// Enable the instruction cache.
|
||||
core.SCB.enable_icache();
|
||||
|
||||
(stabilizer, pounder)
|
||||
}
|
||||
|
||||
@ -90,11 +90,11 @@ fn panic(info: &core::panic::PanicInfo) -> ! {
|
||||
}
|
||||
|
||||
#[cortex_m_rt::exception]
|
||||
fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||
unsafe fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||
panic!("HardFault at {:#?}", ef);
|
||||
}
|
||||
|
||||
#[cortex_m_rt::exception]
|
||||
fn DefaultHandler(irqn: i16) {
|
||||
unsafe fn DefaultHandler(irqn: i16) {
|
||||
panic!("Unhandled exception (IRQn = {})", irqn);
|
||||
}
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
use heapless::{consts, String, Vec};
|
||||
use heapless::{String, Vec};
|
||||
use serde::Serialize;
|
||||
|
||||
use core::fmt::Write;
|
||||
@ -12,15 +12,15 @@ pub enum SettingsResponseCode {
|
||||
/// Represents a generic MQTT message.
|
||||
pub struct MqttMessage<'a> {
|
||||
pub topic: &'a str,
|
||||
pub message: Vec<u8, consts::U128>,
|
||||
pub properties: Vec<minimq::Property<'a>, consts::U1>,
|
||||
pub message: Vec<u8, 128>,
|
||||
pub properties: Vec<minimq::Property<'a>, 1>,
|
||||
}
|
||||
|
||||
/// The payload of the MQTT response message to a settings update request.
|
||||
#[derive(Serialize)]
|
||||
pub struct SettingsResponse {
|
||||
code: u8,
|
||||
msg: String<heapless::consts::U64>,
|
||||
msg: String<64>,
|
||||
}
|
||||
|
||||
impl<'a> MqttMessage<'a> {
|
||||
@ -48,8 +48,7 @@ impl<'a> MqttMessage<'a> {
|
||||
.unwrap_or(&default_response);
|
||||
|
||||
// Associate any provided correlation data with the response.
|
||||
let mut correlation_data: Vec<minimq::Property<'a>, consts::U1> =
|
||||
Vec::new();
|
||||
let mut correlation_data: Vec<minimq::Property<'a>, 1> = Vec::new();
|
||||
if let Some(data) = properties
|
||||
.iter()
|
||||
.find(|prop| matches!(prop, minimq::Property::CorrelationData(_)))
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
///!
|
||||
///! 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 heapless::String;
|
||||
|
||||
use super::{MqttMessage, NetworkReference, SettingsResponse, UpdateState};
|
||||
use crate::hardware::design_parameters::MQTT_BROKER;
|
||||
@ -20,11 +20,11 @@ pub struct MiniconfClient<S>
|
||||
where
|
||||
S: miniconf::Miniconf + Default + Clone,
|
||||
{
|
||||
default_response_topic: String<consts::U128>,
|
||||
mqtt: minimq::MqttClient<minimq::consts::U256, NetworkReference>,
|
||||
default_response_topic: String<128>,
|
||||
mqtt: minimq::Minimq<NetworkReference, 256>,
|
||||
settings: S,
|
||||
subscribed: bool,
|
||||
settings_prefix: String<consts::U64>,
|
||||
settings_prefix: String<64>,
|
||||
}
|
||||
|
||||
impl<S> MiniconfClient<S>
|
||||
@ -39,13 +39,12 @@ where
|
||||
/// * `prefix` - The MQTT device prefix to use for this device.
|
||||
pub fn new(stack: NetworkReference, client_id: &str, prefix: &str) -> Self {
|
||||
let mqtt =
|
||||
minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
|
||||
.unwrap();
|
||||
minimq::Minimq::new(MQTT_BROKER.into(), client_id, stack).unwrap();
|
||||
|
||||
let mut response_topic: String<consts::U128> = String::from(prefix);
|
||||
let mut response_topic: String<128> = String::from(prefix);
|
||||
response_topic.push_str("/log").unwrap();
|
||||
|
||||
let mut settings_prefix: String<consts::U64> = String::from(prefix);
|
||||
let mut settings_prefix: String<64> = String::from(prefix);
|
||||
settings_prefix.push_str("/settings").unwrap();
|
||||
|
||||
Self {
|
||||
@ -62,7 +61,7 @@ where
|
||||
/// # Returns
|
||||
/// An option containing an action that should be completed as a result of network servicing.
|
||||
pub fn update(&mut self) -> UpdateState {
|
||||
let mqtt_connected = match self.mqtt.is_connected() {
|
||||
let mqtt_connected = match self.mqtt.client.is_connected() {
|
||||
Ok(connected) => connected,
|
||||
Err(minimq::Error::Network(
|
||||
smoltcp_nal::NetworkError::NoIpAddress,
|
||||
@ -82,13 +81,13 @@ where
|
||||
if !self.subscribed && mqtt_connected {
|
||||
// Note(unwrap): We construct a string with two more characters than the prefix
|
||||
// strucutre, so we are guaranteed to have space for storage.
|
||||
let mut settings_topic: String<consts::U66> =
|
||||
let mut settings_topic: String<66> =
|
||||
String::from(self.settings_prefix.as_str());
|
||||
settings_topic.push_str("/#").unwrap();
|
||||
|
||||
// We do not currently handle or process potential subscription failures. Instead, this
|
||||
// failure will be logged through the stabilizer logging interface.
|
||||
self.mqtt.subscribe(&settings_topic, &[]).unwrap();
|
||||
self.mqtt.client.subscribe(&settings_topic, &[]).unwrap();
|
||||
self.subscribed = true;
|
||||
}
|
||||
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
///! telemetry (via MQTT), configuration of run-time settings (via MQTT + Miniconf), and live data
|
||||
///! streaming over raw UDP/TCP sockets. This module encompasses the main processing routines
|
||||
///! related to Stabilizer networking operations.
|
||||
use heapless::{consts, String};
|
||||
use heapless::String;
|
||||
use miniconf::Miniconf;
|
||||
use serde::Serialize;
|
||||
|
||||
@ -33,6 +33,12 @@ pub enum UpdateState {
|
||||
Updated,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, PartialEq)]
|
||||
pub enum NetworkState {
|
||||
SettingsChanged,
|
||||
Updated,
|
||||
NoChange,
|
||||
}
|
||||
/// A structure of Stabilizer's default network users.
|
||||
pub struct NetworkUsers<S: Default + Clone + Miniconf, T: Serialize> {
|
||||
pub miniconf: MiniconfClient<S>,
|
||||
@ -98,15 +104,18 @@ where
|
||||
///
|
||||
/// # Returns
|
||||
/// An indication if any of the network users indicated a state change.
|
||||
pub fn update(&mut self) -> UpdateState {
|
||||
pub fn update(&mut self) -> NetworkState {
|
||||
// Poll for incoming data.
|
||||
let poll_result = self.processor.update();
|
||||
let poll_result = match self.processor.update() {
|
||||
UpdateState::NoChange => NetworkState::NoChange,
|
||||
UpdateState::Updated => NetworkState::Updated,
|
||||
};
|
||||
|
||||
// Update the MQTT clients.
|
||||
self.telemetry.update();
|
||||
|
||||
match self.miniconf.update() {
|
||||
UpdateState::Updated => UpdateState::Updated,
|
||||
UpdateState::Updated => NetworkState::SettingsChanged,
|
||||
UpdateState::NoChange => poll_result,
|
||||
}
|
||||
}
|
||||
@ -125,7 +134,7 @@ fn get_client_id(
|
||||
app: &str,
|
||||
client: &str,
|
||||
mac: smoltcp_nal::smoltcp::wire::EthernetAddress,
|
||||
) -> String<consts::U64> {
|
||||
) -> String<64> {
|
||||
let mut identifier = String::new();
|
||||
write!(&mut identifier, "{}-{}-{}", app, mac, client).unwrap();
|
||||
identifier
|
||||
@ -142,10 +151,10 @@ fn get_client_id(
|
||||
pub fn get_device_prefix(
|
||||
app: &str,
|
||||
mac: smoltcp_nal::smoltcp::wire::EthernetAddress,
|
||||
) -> String<consts::U128> {
|
||||
) -> String<128> {
|
||||
// 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();
|
||||
let mut prefix: String<128> = String::new();
|
||||
write!(&mut prefix, "dt/sinara/{}/{}", app, mac).unwrap();
|
||||
|
||||
prefix
|
||||
|
||||
@ -47,25 +47,25 @@ impl<'a, S> NetworkStackProxy<'a, S> {
|
||||
// proxy structure.
|
||||
macro_rules! forward {
|
||||
($func:ident($($v:ident: $IT:ty),*) -> $T:ty) => {
|
||||
fn $func(&self, $($v: $IT),*) -> $T {
|
||||
fn $func(&mut 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>
|
||||
impl<'a, S> embedded_nal::TcpClientStack for NetworkStackProxy<'a, S>
|
||||
where
|
||||
S: embedded_nal::TcpStack,
|
||||
S: embedded_nal::TcpClientStack,
|
||||
{
|
||||
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! {socket() -> Result<S::TcpSocket, S::Error>}
|
||||
forward! {connect(socket: &mut S::TcpSocket, remote: embedded_nal::SocketAddr) -> embedded_nal::nb::Result<(), 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! {send(socket: &mut S::TcpSocket, buffer: &[u8]) -> embedded_nal::nb::Result<usize, S::Error>}
|
||||
forward! {receive(socket: &mut S::TcpSocket, buffer: &mut [u8]) -> embedded_nal::nb::Result<usize, S::Error>}
|
||||
forward! {close(socket: S::TcpSocket) -> Result<(), S::Error>}
|
||||
}
|
||||
|
||||
|
||||
@ -10,7 +10,7 @@
|
||||
///! 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 heapless::{String, Vec};
|
||||
use minimq::QoS;
|
||||
use serde::Serialize;
|
||||
|
||||
@ -21,8 +21,8 @@ use crate::hardware::{
|
||||
|
||||
/// 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>,
|
||||
mqtt: minimq::Minimq<NetworkReference, 256>,
|
||||
telemetry_topic: String<128>,
|
||||
_telemetry: core::marker::PhantomData<T>,
|
||||
}
|
||||
|
||||
@ -97,10 +97,9 @@ impl<T: Serialize> TelemetryClient<T> {
|
||||
/// 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();
|
||||
minimq::Minimq::new(MQTT_BROKER.into(), client_id, stack).unwrap();
|
||||
|
||||
let mut telemetry_topic: String<consts::U128> = String::from(prefix);
|
||||
let mut telemetry_topic: String<128> = String::from(prefix);
|
||||
telemetry_topic.push_str("/telemetry").unwrap();
|
||||
|
||||
Self {
|
||||
@ -119,9 +118,10 @@ impl<T: Serialize> TelemetryClient<T> {
|
||||
/// # Args
|
||||
/// * `telemetry` - The telemetry to report
|
||||
pub fn publish(&mut self, telemetry: &T) {
|
||||
let telemetry: Vec<u8, consts::U256> =
|
||||
let telemetry: Vec<u8, 256> =
|
||||
serde_json_core::to_vec(telemetry).unwrap();
|
||||
self.mqtt
|
||||
.client
|
||||
.publish(&self.telemetry_topic, &telemetry, QoS::AtMostOnce, &[])
|
||||
.ok();
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user