kai
/
pounder_test
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Merge branch 'master' into rj/visibility-cleanup 

* 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
  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
master
Robert Jördens 2021-05-28 21:50:53 +02:00
parent 316dbb3d2e c6965bd8e0
commit 8ccc2f2275
13 changed files with 175 additions and 96 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

93
Cargo.lock generated
View File

@ -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-complex"
@ -538,12 +551,6 @@ 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"
@ -667,11 +674,11 @@ 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",
]
@ -711,10 +718,10 @@ 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",
]
@ -730,7 +737,7 @@ dependencies = [
"cortex-m-rtic",
"dsp",
"embedded-hal",
"heapless 0.6.1",
"heapless 0.7.1",
"log",
"mcp23017",
"miniconf",

17
Cargo.toml
View File

@ -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"
@ -58,17 +60,22 @@ rev = "523d71d"
features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
version = "0.9.0"
# 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
View File

@ -0,0 +1,3 @@
fn main() {
println!("cargo:rerun-if-changed=memory.x");
}

20
memory.x
View File

@ -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");

2
src/bin/dual-iir.rs
View File

@ -119,6 +119,8 @@ 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(c: process::Context) {
let adc_samples = [
c.resources.adcs.0.acquire_buffer(),

2
src/bin/lockin.rs
View File

@ -152,6 +152,8 @@ 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(),

62
src/hardware/configuration.rs
View File

@ -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)
}

4
src/hardware/mod.rs
View File

@ -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);
}

11
src/net/messages.rs
View File

@ -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(_)))

21
src/net/miniconf_client.rs
View File

@ -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;
}

8
src/net/mod.rs
View File

@ -6,7 +6,7 @@
///! streaming over raw UDP/TCP sockets. This module encompasses the main processing routines
///! related to Stabilizer networking operations.
use core::fmt::Write;
use heapless::{consts, String};
use heapless::String;
pub use miniconf::Miniconf;
use serde::Serialize;
@ -133,7 +133,7 @@ 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
@ -150,10 +150,10 @@ 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

14
src/net/shared.rs
View File

@ -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>}
}

14
src/net/telemetry.rs
View File

@ -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();
}