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Merge branch 'feature/ethernet-interface' into rs/dev

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This commit is contained in:
Ryan Summers 2020-06-09 14:27:07 +02:00
commit 8b4d5397be
5 changed files with 212 additions and 123 deletions
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1
Cargo.lock generated
View File

@ -236,6 +236,7 @@ dependencies = [
"as-slice",
"generic-array 0.13.2",
"hash32",
"serde",
"stable_deref_trait",
]

2
stabilizer/Cargo.toml
View File

@ -33,7 +33,7 @@ log = "0.4"
panic-semihosting = { version = "0.5", optional = true }
panic-halt = "0.2"
serde = { version = "1.0", features = ["derive"], default-features = false }
heapless = "0.5"
heapless = { version = "0.5", features = ["serde"] }
serde-json-core = "0.1"
cortex-m-rtfm = "0.5"
embedded-hal = "0.2.3"

4
stabilizer/src/afe.rs
View File

@ -1,8 +1,10 @@
use embedded_hal;
use serde::{Serialize, Deserialize};
use core::convert::TryFrom;
use enum_iterator::IntoEnumIterator;
#[derive(Copy, Clone, Debug, IntoEnumIterator)]
#[derive(Copy, Clone, Debug, Serialize, Deserialize, IntoEnumIterator)]
pub enum Gain {
G1 = 0b00,
G2 = 0b01,

209
stabilizer/src/main.rs
View File

@ -44,17 +44,19 @@ use embedded_hal::{
use stm32h7_ethernet as ethernet;
use smoltcp as net;
use heapless::{
String,
consts::*,
};
#[link_section = ".sram3.eth"]
static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
mod afe;
mod eeprom;
mod iir;
mod pounder;
mod server;
mod afe;
mod iir;
use iir::*;
mod eeprom;
#[cfg(not(feature = "semihosting"))]
fn init_log() {}
@ -109,32 +111,94 @@ type AFE2 = afe::ProgrammableGainAmplifier<
hal::gpio::gpiod::PD14<hal::gpio::Output<hal::gpio::PushPull>>,
hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>>;
macro_rules! route_request {
($request:ident,
readable_attributes: [$(($read_attribute:tt, $getter:tt)),*],
modifiable_attributes: [$(($write_attribute:tt, $TYPE:ty, $setter:tt)),*]) => {
match $request.req {
server::AccessRequest::Read => {
match $request.attribute {
$(
$read_attribute => {
let value = match $getter() {
Ok(data) => data,
Err(_) => return server::Response::error($request.attribute,
"Failed to set attribute"),
};
let encoded_data: String<U128> = match serde_json_core::to_string(&value) {
Ok(data) => data,
Err(_) => return server::Response::error($request.attribute,
"Failed to encode attribute value"),
};
// Encoding data into a string surrounds it with qutotations. Because this
// value is then serialzed into another string, we remove the double
// quotations because they cannot be properly escaped.
server::Response::success($request.attribute,
&encoded_data[1..encoded_data.len()-1])
},
)*
_ => server::Response::error($request.attribute, "Unknown attribute")
}
},
server::AccessRequest::Write => {
match $request.attribute {
$(
$write_attribute => {
// To avoid sending double quotations in the request, they are eliminated on
// the sender side. However, to properly deserialize the data, quotes need
// to be added back.
let mut value: String<U128> = String::new();
value.push('"').unwrap();
value.push_str($request.value).unwrap();
value.push('"').unwrap();
let new_value = match serde_json_core::from_str::<$TYPE>(value.as_str()) {
Ok(data) => data,
Err(_) => return server::Response::error($request.attribute,
"Failed to decode value"),
};
match $setter(new_value) {
Ok(_) => server::Response::success($request.attribute, $request.value),
Err(_) => server::Response::error($request.attribute,
"Failed to set attribute"),
}
}
)*
_ => server::Response::error($request.attribute, "Unknown attribute")
}
}
}
}
}
#[rtfm::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtfm::cyccnt::CYCCNT)]
const APP: () = {
struct Resources {
adc1: hal::spi::Spi<hal::stm32::SPI2>,
dac1: hal::spi::Spi<hal::stm32::SPI4>,
_afe1: AFE1,
afe1: AFE1,
adc2: hal::spi::Spi<hal::stm32::SPI3>,
dac2: hal::spi::Spi<hal::stm32::SPI5>,
_afe2: AFE2,
afe2: AFE2,
eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>,
timer: hal::timer::Timer<hal::stm32::TIM2>,
net_interface: net::iface::EthernetInterface<'static, 'static, 'static,
ethernet::EthernetDMA<'static>>,
_eth_mac: ethernet::EthernetMAC,
eth_mac: ethernet::EthernetMAC,
mac_addr: net::wire::EthernetAddress,
pounder: pounder::PounderDevices<asm_delay::AsmDelay>,
#[init([[0.; 5]; 2])]
iir_state: [IIRState; 2],
#[init([IIR { ba: [1., 0., 0., 0., 0.], y_offset: 0., y_min: -SCALE - 1., y_max: SCALE }; 2])]
iir_ch: [IIR; 2],
iir_state: [iir::IIRState; 2],
#[init([iir::IIR { ba: [1., 0., 0., 0., 0.], y_offset: 0., y_min: -SCALE - 1., y_max: SCALE }; 2])]
iir_ch: [iir::IIR; 2],
}
#[init]
@ -156,6 +220,8 @@ const APP: () = {
.pll2_q_ck(100.mhz())
.freeze(vos, &dp.SYSCFG);
init_log();
// Enable SRAM3 for the ethernet descriptor ring.
clocks.rb.ahb2enr.modify(|_, w| w.sram3en().set_bit());
@ -362,8 +428,8 @@ 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();
@ -380,8 +446,8 @@ 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);
@ -413,6 +479,8 @@ 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);
@ -430,7 +498,6 @@ 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);
@ -462,15 +529,15 @@ const APP: () = {
dac1: dac1_spi,
adc2: adc2_spi,
dac2: dac2_spi,
_afe1: afe1,
_afe2: afe2,
afe1: afe1,
afe2: afe2,
timer: timer2,
pounder: pounder_devices,
eeprom_i2c: eeprom_i2c,
net_interface: network_interface,
_eth_mac: eth_mac,
eth_mac: eth_mac,
mac_addr: mac_addr,
}
}
@ -505,7 +572,7 @@ const APP: () = {
c.resources.dac1.send(output).unwrap();
}
#[idle(resources=[net_interface, mac_addr, iir_state, iir_ch])]
#[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();
@ -513,22 +580,13 @@ const APP: () = {
let mut rx_storage = [0; TCP_RX_BUFFER_SIZE];
let mut tx_storage = [0; TCP_TX_BUFFER_SIZE];
let tcp_handle0 = {
let tcp_handle = {
let tcp_rx_buffer = net::socket::TcpSocketBuffer::new(&mut rx_storage[..]);
let tcp_tx_buffer = net::socket::TcpSocketBuffer::new(&mut tx_storage[..]);
let tcp_socket = net::socket::TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
sockets.add(tcp_socket)
};
let mut rx_storage2 = [0; TCP_RX_BUFFER_SIZE];
let mut tx_storage2 = [0; TCP_TX_BUFFER_SIZE];
let tcp_handle1 = {
let tcp_rx_buffer = net::socket::TcpSocketBuffer::new(&mut rx_storage2[..]);
let tcp_tx_buffer = net::socket::TcpSocketBuffer::new(&mut tx_storage2[..]);
let tcp_socket = net::socket::TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
sockets.add(tcp_socket)
};
let mut server = server::Server::new();
let mut time = 0u32;
@ -545,29 +603,9 @@ const APP: () = {
time += 1;
}
{
let mut socket = sockets.get::<net::socket::TcpSocket>(tcp_handle0);
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));
} else if tick && socket.can_send() {
let s = c.resources.iir_state.lock(|iir_state| server::Status {
t: time,
x0: iir_state[0][0],
y0: iir_state[0][2],
x1: iir_state[1][0],
y1: iir_state[1][2],
});
server::json_reply(&mut socket, &s);
}
}
{
let socket =
&mut *sockets.get::<net::socket::TcpSocket>(tcp_handle1);
&mut *sockets.get::<net::socket::TcpSocket>(tcp_handle);
if socket.state() == net::socket::TcpState::CloseWait {
socket.close();
} else if !(socket.is_open() || socket.is_listening()) {
@ -575,19 +613,64 @@ const APP: () = {
.listen(1235)
.unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
} else {
server.poll(socket, |req: &server::Request| {
if req.channel < 2 {
c.resources.iir_ch.lock(|iir_ch| {
iir_ch[req.channel as usize] = req.iir
});
}
server.poll(socket, |req| {
info!("Got request: {:?}", req);
route_request!(req,
readable_attributes: [
("stabilizer/iir/state", (|| {
let state = c.resources.iir_state.lock(|iir_state|
server::Status {
t: time,
x0: iir_state[0][0],
y0: iir_state[0][2],
x1: iir_state[1][0],
y1: iir_state[1][2],
});
Ok::<server::Status, ()>(state)
})),
("stabilizer/afe1/gain", (|| c.resources.afe1.get_gain())),
("stabilizer/afe2/gain", (|| c.resources.afe2.get_gain()))
],
modifiable_attributes: [
("stabilizer/iir1/state", server::IirRequest, (|req: server::IirRequest| {
c.resources.iir_ch.lock(|iir_ch| {
if req.channel > 1 {
return Err(());
}
iir_ch[req.channel as usize] = req.iir;
Ok::<server::IirRequest, ()>(req)
})
})),
("stabilizer/iir2/state", server::IirRequest, (|req: server::IirRequest| {
c.resources.iir_ch.lock(|iir_ch| {
if req.channel > 1 {
return Err(());
}
iir_ch[req.channel as usize] = req.iir;
Ok::<server::IirRequest, ()>(req)
})
})),
("stabilizer/afe1/gain", afe::Gain, (|gain| {
Ok::<(), ()>(c.resources.afe1.set_gain(gain))
})),
("stabilizer/afe2/gain", afe::Gain, (|gain| {
Ok::<(), ()>(c.resources.afe2.set_gain(gain))
}))
]
)
});
}
}
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);
@ -601,14 +684,10 @@ 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

119
stabilizer/src/server.rs
View File

@ -8,7 +8,6 @@ use core::fmt::Write;
use serde::{
de::DeserializeOwned,
Deserialize,
Serialize
};
@ -19,18 +18,49 @@ use serde_json_core::{
};
use super::net;
use super::iir::IIR;
use super::iir;
#[derive(Deserialize, Serialize)]
pub struct Request {
#[derive(Deserialize, Serialize, Debug)]
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)]
pub struct IirRequest {
pub channel: u8,
pub iir: IIR,
pub iir: iir::IIR,
}
#[derive(Serialize)]
pub struct Response<'a> {
pub struct Response {
code: i32,
message: &'a str,
attribute: String<U128>,
value: String<U128>,
}
impl Response {
pub fn success<'a, 'b>(attribute: &'a str, value: &'b str) -> Self
{
Self { code: 200, attribute: String::from(attribute), value: String::from(value)}
}
pub fn error<'a, 'b>(attribute: &'a str, message: &'b str) -> Self
{
Self { code: 400, attribute: String::from(attribute), value: String::from(message)}
}
pub fn custom<'a>(code: i32, message : &'a str) -> Self
{
Self { code: code, attribute: String::from(""), value: String::from(message)}
}
}
#[derive(Serialize)]
@ -61,73 +91,50 @@ impl Server {
}
}
pub fn poll<T, F, R>(
pub fn poll<F>(
&mut self,
socket: &mut net::socket::TcpSocket,
f: F,
) -> Option<R>
mut f: F,
)
where
T: DeserializeOwned,
F: FnOnce(&T) -> R,
F: FnMut(&Request) -> Response
{
while socket.can_recv() {
let found = socket
.recv(|buf| {
let (len, found) =
match buf.iter().position(|&c| c as char == '\n') {
Some(end) => (end + 1, true),
None => (buf.len(), false),
};
if self.data.len() + len >= self.data.capacity() {
self.discard = true;
self.data.clear();
} else if !self.discard && len > 0 {
self.data.extend_from_slice(&buf[..len]).unwrap();
}
(len, found)
})
.unwrap();
let found = socket.recv(|buf| {
let (len, found) =
match buf.iter().position(|&c| c as char == '\n') {
Some(end) => (end + 1, true),
None => (buf.len(), false),
};
if self.data.len() + len >= self.data.capacity() {
self.discard = true;
self.data.clear();
} else if !self.discard && len > 0 {
self.data.extend_from_slice(&buf[..len]).unwrap();
}
(len, found)
}).unwrap();
if found {
if self.discard {
self.discard = false;
json_reply(
socket,
&Response {
code: 520,
message: "command buffer overflow",
},
);
self.data.clear();
json_reply(socket, &Response::custom(520, "command buffer overflow"));
} else {
let r = from_slice::<T>(&self.data[..self.data.len() - 1]);
self.data.clear();
let r = from_slice::<Request>(&self.data[..self.data.len() - 1]);
match r {
Ok(res) => {
let r = f(&res);
json_reply(
socket,
&Response {
code: 200,
message: "ok",
},
);
return Some(r);
}
let response = f(&res);
json_reply(socket, &response);
},
Err(err) => {
warn!("parse error {:?}", err);
json_reply(
socket,
&Response {
code: 550,
message: "parse error",
},
);
json_reply(socket, &Response::custom(550, "parse error"));
}
}
}
self.data.clear();
}
}
None
}
}