diff --git a/.cargo/config b/.cargo/config index a765d53..382c36e 100644 --- a/.cargo/config +++ b/.cargo/config @@ -1,5 +1,5 @@ [target.'cfg(all(target_arch = "arm", target_os = "none"))'] -runner = "gdb-multiarch -q -x bmp.gdb" +runner = "gdb-multiarch -q -x openocd.gdb" rustflags = ["-C", "link-arg=-Tlink.x"] [build] diff --git a/stabilizer/src/main.rs b/stabilizer/src/main.rs index a5eee0b..1cf6e4b 100644 --- a/stabilizer/src/main.rs +++ b/stabilizer/src/main.rs @@ -113,47 +113,59 @@ macro_rules! route_request { ($request:ident, readable_attributes: [$(($read_attribute:tt, $getter:tt)),*], modifiable_attributes: [$(($write_attribute:tt, $TYPE:ty, $setter:tt)),*]) => { - match $request { - server::Request::Read{attribute} => { - match attribute { + match $request.req { + server::AccessRequest::Read => { + match $request.attribute { $( - &$read_attribute => { + $read_attribute => { let value = match $getter() { Ok(data) => data, - Err(_) => return server::Response::error(attribute, + Err(_) => return server::Response::error($request.attribute, "Failed to set attribute"), }; let encoded_data: String = match serde_json_core::to_string(&value) { Ok(data) => data, - Err(_) => return server::Response::error(attribute, + Err(_) => return server::Response::error($request.attribute, "Failed to encode attribute value"), }; - server::Response::success(attribute, &encoded_data) + // Encoding data into a string surrounds it with qutotations. Because this + // value is then serialzed into another string, we remove the double + // quotations because they cannot be properly escaped. + server::Response::success($request.attribute, + &encoded_data[1..encoded_data.len()-1]) }, )* - _ => server::Response::error(attribute, "Unknown attribute") + _ => server::Response::error($request.attribute, "Unknown attribute") } }, - server::Request::Write{attribute, value} => { - match attribute { + server::AccessRequest::Write => { + match $request.attribute { $( - &$write_attribute => { - let new_value = match serde_json_core::from_str::<$TYPE>(value) { + $write_attribute => { + // To avoid sending double quotations in the request, they are eliminated on + // the sender side. However, to properly deserialize the data, quotes need + // to be added back. + let mut value: String = String::new(); + value.push('"').unwrap(); + value.push_str($request.value).unwrap(); + value.push('"').unwrap(); + + let new_value = match serde_json_core::from_str::<$TYPE>(value.as_str()) { Ok(data) => data, - Err(_) => return server::Response::error(attribute, + Err(_) => return server::Response::error($request.attribute, "Failed to decode value"), }; match $setter(new_value) { - Ok(_) => server::Response::success(attribute, value), - Err(_) => server::Response::error(attribute, + Ok(_) => server::Response::success($request.attribute, $request.value), + Err(_) => server::Response::error($request.attribute, "Failed to set attribute"), } } )* - _ => server::Response::error(attribute, "Unknown attribute") + _ => server::Response::error($request.attribute, "Unknown attribute") } } } @@ -176,7 +188,7 @@ const APP: () = { timer: hal::timer::Timer, net_interface: net::iface::EthernetInterface<'static, 'static, 'static, ethernet::EthernetDMA<'static>>, - _eth_mac: ethernet::EthernetMAC, + eth_mac: ethernet::EthernetMAC, mac_addr: net::wire::EthernetAddress, #[init([[0.; 5]; 2])] @@ -211,6 +223,8 @@ const APP: () = { clocks.rb.d2ccip1r.modify(|_, w| w.spi123sel().pll2_p().spi45sel().pll2_q()); + let mut delay = hal::delay::Delay::new(cp.SYST, clocks.clocks); + let gpioa = dp.GPIOA.split(&mut clocks); let gpiob = dp.GPIOB.split(&mut clocks); let gpioc = dp.GPIOC.split(&mut clocks); @@ -326,8 +340,8 @@ const APP: () = { let mut fp_led_0 = gpiod.pd5.into_push_pull_output(); let mut fp_led_1 = gpiod.pd6.into_push_pull_output(); - let mut fp_led_2 = gpiod.pd12.into_push_pull_output(); - let mut fp_led_3 = gpiog.pg4.into_push_pull_output(); + let mut fp_led_2 = gpiog.pg4.into_push_pull_output(); + let mut fp_led_3 = gpiod.pd12.into_push_pull_output(); fp_led_0.set_low().unwrap(); fp_led_1.set_low().unwrap(); @@ -344,8 +358,8 @@ const APP: () = { { // Reset the PHY before configuring pins. let mut eth_phy_nrst = gpioe.pe3.into_push_pull_output(); - eth_phy_nrst.set_high().unwrap(); eth_phy_nrst.set_low().unwrap(); + delay.delay_us(200u8); eth_phy_nrst.set_high().unwrap(); let _rmii_ref_clk = gpioa.pa1.into_alternate_af11().set_speed(hal::gpio::Speed::VeryHigh); let _rmii_mdio = gpioa.pa2.into_alternate_af11().set_speed(hal::gpio::Speed::VeryHigh); @@ -377,6 +391,8 @@ const APP: () = { mac_addr.clone()) }; + unsafe { ethernet::enable_interrupt() }; + let store = unsafe { &mut NET_STORE }; store.ip_addrs[0] = net::wire::IpCidr::new(net::wire::IpAddress::v4(10, 0, 16, 99), 24); @@ -394,7 +410,6 @@ const APP: () = { cp.SCB.enable_icache(); - init_log(); // 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); @@ -433,7 +448,7 @@ const APP: () = { eeprom_i2c: eeprom_i2c, net_interface: network_interface, - _eth_mac: eth_mac, + eth_mac: eth_mac, mac_addr: mac_addr, } } @@ -468,7 +483,7 @@ const APP: () = { c.resources.dac1.send(output).unwrap(); } - #[idle(resources=[net_interface, mac_addr, iir_state, iir_ch, afe1, afe2])] + #[idle(resources=[net_interface, mac_addr, eth_mac, iir_state, iir_ch, afe1, afe2])] fn idle(mut c: idle::Context) -> ! { let mut socket_set_entries: [_; 8] = Default::default(); @@ -566,7 +581,7 @@ const APP: () = { let sleep = match c.resources.net_interface.poll(&mut sockets, net::time::Instant::from_millis(time as i64)) { - Ok(changed) => changed, + Ok(changed) => changed == false, Err(net::Error::Unrecognized) => true, Err(e) => { info!("iface poll error: {:?}", e); @@ -580,14 +595,10 @@ const APP: () = { } } - /* - #[task(binds = ETH, resources = [net_interface], priority = 1)] - fn eth(c: eth::Context) { - let dma = &c.resources.net_interface.device(); - ETHERNET_PENDING.store(true, Ordering::Relaxed); - dma.interrupt_handler() + #[task(binds = ETH, priority = 1)] + fn eth(_: eth::Context) { + unsafe { ethernet::interrupt_handler() } } - */ extern "C" { // hw interrupt handlers for RTFM to use for scheduling tasks diff --git a/stabilizer/src/server.rs b/stabilizer/src/server.rs index 68edafe..adf2fdc 100644 --- a/stabilizer/src/server.rs +++ b/stabilizer/src/server.rs @@ -21,9 +21,16 @@ use super::net; use super::iir; #[derive(Deserialize, Serialize, Debug)] -pub enum Request<'a, 'b> { - Read{attribute: &'a str}, - Write{attribute: &'a str, value: &'b str}, +pub enum AccessRequest { + Read, + Write, +} + +#[derive(Deserialize, Serialize, Debug)] +pub struct Request<'a, 'b> { + pub req: AccessRequest, + pub attribute: &'a str, + pub value: &'b str, } #[derive(Serialize, Deserialize)]