diff --git a/Cargo.lock b/Cargo.lock index bb74654..d8ee50f 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -236,6 +236,7 @@ dependencies = [ "as-slice", "generic-array 0.13.2", "hash32", + "serde", "stable_deref_trait", ] diff --git a/stabilizer/Cargo.toml b/stabilizer/Cargo.toml index ffbd1e4..6db769f 100644 --- a/stabilizer/Cargo.toml +++ b/stabilizer/Cargo.toml @@ -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" diff --git a/stabilizer/src/afe.rs b/stabilizer/src/afe.rs index dfe0b00..868c475 100644 --- a/stabilizer/src/afe.rs +++ b/stabilizer/src/afe.rs @@ -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, diff --git a/stabilizer/src/main.rs b/stabilizer/src/main.rs index 972ac5e..8e0b07c 100644 --- a/stabilizer/src/main.rs +++ b/stabilizer/src/main.rs @@ -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::gpiod::PD15>>; +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 = 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 { + $( + $write_attribute => { + // To avoid sending double quotations in the request, they are eliminated on + // the sender side. However, to properly deserialize the data, quotes need + // to be added back. + let mut value: String = String::new(); + value.push('"').unwrap(); + value.push_str($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, dac1: hal::spi::Spi, - _afe1: AFE1, + afe1: AFE1, adc2: hal::spi::Spi, dac2: hal::spi::Spi, - _afe2: AFE2, + afe2: AFE2, eeprom_i2c: hal::i2c::I2c, 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, pounder: pounder::PounderDevices, #[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::(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::(tcp_handle1); + &mut *sockets.get::(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::(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::(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::(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 diff --git a/stabilizer/src/server.rs b/stabilizer/src/server.rs index 8cd48ce..adf2fdc 100644 --- a/stabilizer/src/server.rs +++ b/stabilizer/src/server.rs @@ -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, + value: String, +} + +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( + pub fn poll( &mut self, socket: &mut net::socket::TcpSocket, - f: F, - ) -> Option + 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::(&self.data[..self.data.len() - 1]); - self.data.clear(); + let r = from_slice::(&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 } }