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rustfmt: run

This commit is contained in:
Robert Jördens 2019-11-24 15:09:52 +01:00
parent 501b3c11d3
commit b34fdf7c48
6 changed files with 720 additions and 466 deletions
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578
src/board.rs
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@ -1,43 +1,40 @@
use super::pac;
use super::i2c;
use super::eth;
use super::i2c;
use super::pac;
fn pwr_setup(pwr: &pac::PWR) {
// go to VOS1 voltage scale for high perf
pwr.cr3.write(|w|
w.scuen().set_bit()
.ldoen().set_bit()
.bypass().clear_bit()
);
pwr.cr3
.write(|w| w.scuen().set_bit().ldoen().set_bit().bypass().clear_bit());
while pwr.csr1.read().actvosrdy().bit_is_clear() {}
pwr.d3cr.write(|w| unsafe { w.vos().bits(0b11) }); // vos1
pwr.d3cr.write(|w| unsafe { w.vos().bits(0b11) }); // vos1
while pwr.d3cr.read().vosrdy().bit_is_clear() {}
}
fn rcc_reset(rcc: &pac::RCC) {
// Reset all peripherals
rcc.ahb1rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.ahb1rstr.write(|w| unsafe { w.bits(0)});
rcc.ahb1rstr.write(|w| unsafe { w.bits(0) });
rcc.apb1lrstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.apb1lrstr.write(|w| unsafe { w.bits(0)});
rcc.apb1lrstr.write(|w| unsafe { w.bits(0) });
rcc.apb1hrstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.apb1hrstr.write(|w| unsafe { w.bits(0)});
rcc.apb1hrstr.write(|w| unsafe { w.bits(0) });
rcc.ahb2rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.ahb2rstr.write(|w| unsafe { w.bits(0)});
rcc.ahb2rstr.write(|w| unsafe { w.bits(0) });
rcc.apb2rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.apb2rstr.write(|w| unsafe { w.bits(0)});
rcc.apb2rstr.write(|w| unsafe { w.bits(0) });
// do not reset the cpu
rcc.ahb3rstr.write(|w| unsafe { w.bits(0x7FFF_FFFF) });
rcc.ahb3rstr.write(|w| unsafe { w.bits(0)});
rcc.ahb3rstr.write(|w| unsafe { w.bits(0) });
rcc.apb3rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.apb3rstr.write(|w| unsafe { w.bits(0)});
rcc.apb3rstr.write(|w| unsafe { w.bits(0) });
rcc.ahb4rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.ahb4rstr.write(|w| unsafe { w.bits(0)});
rcc.ahb4rstr.write(|w| unsafe { w.bits(0) });
rcc.apb4rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
rcc.apb4rstr.write(|w| unsafe { w.bits(0)});
rcc.apb4rstr.write(|w| unsafe { w.bits(0) });
}
fn rcc_pll_setup(rcc: &pac::RCC, flash: &pac::FLASH) {
@ -50,64 +47,89 @@ fn rcc_pll_setup(rcc: &pac::RCC, flash: &pac::FLASH) {
rcc.cfgr.reset();
// Ensure HSE is on and stable
rcc.cr.modify(|_, w|
w.hseon().on()
.hsebyp().not_bypassed());
rcc.cr.modify(|_, w| w.hseon().on().hsebyp().not_bypassed());
while !rcc.cr.read().hserdy().is_ready() {}
rcc.pllckselr.modify(|_, w|
w.pllsrc().hse()
.divm1().bits(1) // ref prescaler
.divm2().bits(1) // ref prescaler
rcc.pllckselr.modify(
|_, w| {
w.pllsrc()
.hse()
.divm1()
.bits(1) // ref prescaler
.divm2()
.bits(1)
}, // ref prescaler
);
// Configure PLL1: 8MHz /1 *100 /2 = 400 MHz
rcc.pllcfgr.modify(|_, w|
w.pll1vcosel().wide_vco() // 192-836 MHz VCO
.pll1rge().range8() // 8-16 MHz PFD
.pll1fracen().reset()
.divp1en().enabled()
.pll2vcosel().medium_vco() // 150-420 MHz VCO
.pll2rge().range8() // 8-16 MHz PFD
.pll2fracen().reset()
.divp2en().enabled()
.divq2en().enabled()
);
rcc.pllcfgr.modify(|_, w| {
w.pll1vcosel()
.wide_vco() // 192-836 MHz VCO
.pll1rge()
.range8() // 8-16 MHz PFD
.pll1fracen()
.reset()
.divp1en()
.enabled()
.pll2vcosel()
.medium_vco() // 150-420 MHz VCO
.pll2rge()
.range8() // 8-16 MHz PFD
.pll2fracen()
.reset()
.divp2en()
.enabled()
.divq2en()
.enabled()
});
rcc.pll1divr.write(|w| unsafe {
w.divn1().bits(100 - 1) // feebdack divider
.divp1().div2() // p output divider
w.divn1()
.bits(100 - 1) // feebdack divider
.divp1()
.div2() // p output divider
});
rcc.cr.modify(|_, w| w.pll1on().on());
while !rcc.cr.read().pll1rdy().is_ready() {}
// Configure PLL2: 8MHz /1 *25 / 2 = 100 MHz
rcc.pll2divr.write(|w| unsafe {
w.divn2().bits(25 - 1) // feebdack divider
.divp2().bits(2 - 1) // p output divider
.divq2().bits(2 - 1) // q output divider
w.divn2()
.bits(25 - 1) // feebdack divider
.divp2()
.bits(2 - 1) // p output divider
.divq2()
.bits(2 - 1) // q output divider
});
rcc.cr.modify(|_, w| w.pll2on().on());
while !rcc.cr.read().pll2rdy().is_ready() {}
// hclk 200 MHz, pclk 100 MHz
rcc.d1cfgr.write(|w|
w.d1cpre().div1() // sys_ck not divided
.hpre().div2() // rcc_hclk3 = sys_d1cpre_ck / 2
.d1ppre().div2() // rcc_pclk3 = rcc_hclk3 / 2
rcc.d1cfgr.write(
|w| {
w.d1cpre()
.div1() // sys_ck not divided
.hpre()
.div2() // rcc_hclk3 = sys_d1cpre_ck / 2
.d1ppre()
.div2()
}, // rcc_pclk3 = rcc_hclk3 / 2
);
rcc.d2cfgr.write(|w|
w.d2ppre1().div2() // rcc_pclk1 = rcc_hclk3 / 2
.d2ppre2().div2() // rcc_pclk2 = rcc_hclk3 / 2
rcc.d2cfgr.write(
|w| {
w.d2ppre1()
.div2() // rcc_pclk1 = rcc_hclk3 / 2
.d2ppre2()
.div2()
}, // rcc_pclk2 = rcc_hclk3 / 2
);
rcc.d3cfgr.write(|w|
w.d3ppre().div2() // rcc_pclk4 = rcc_hclk3 / 2
rcc.d3cfgr.write(
|w| w.d3ppre().div2(), // rcc_pclk4 = rcc_hclk3 / 2
);
// 2 wait states, 0b10 programming delay
// 185-210 MHz
flash.acr.write(|w| unsafe {
w.wrhighfreq().bits(2)
.latency().bits(2)
});
flash
.acr
.write(|w| unsafe { w.wrhighfreq().bits(2).latency().bits(2) });
while flash.acr.read().latency().bits() != 2 {}
// CSI for I/O compensationc ell
@ -119,24 +141,26 @@ fn rcc_pll_setup(rcc: &pac::RCC, flash: &pac::FLASH) {
while !rcc.cfgr.read().sws().is_pll1() {}
rcc.d1ccipr.write(|w| w.ckpersel().hse());
rcc.d2ccip1r.modify(|_, w|
w.spi123sel().pll2_p()
.spi45sel().pll2_q()
);
rcc.d2ccip1r
.modify(|_, w| w.spi123sel().pll2_p().spi45sel().pll2_q());
rcc.d3ccipr.modify(|_, w| w.spi6sel().pll2_q());
}
fn io_compensation_setup(syscfg: &pac::SYSCFG) {
syscfg.cccsr.modify(|_, w|
w.en().set_bit()
.cs().clear_bit()
.hslv().clear_bit()
);
syscfg
.cccsr
.modify(|_, w| w.en().set_bit().cs().clear_bit().hslv().clear_bit());
while syscfg.cccsr.read().ready().bit_is_clear() {}
}
fn gpio_setup(gpioa: &pac::GPIOA, gpiob: &pac::GPIOB, gpiod: &pac::GPIOD,
gpioe: &pac::GPIOE, gpiof: &pac::GPIOF, gpiog: &pac::GPIOG) {
fn gpio_setup(
gpioa: &pac::GPIOA,
gpiob: &pac::GPIOB,
gpiod: &pac::GPIOD,
gpioe: &pac::GPIOE,
gpiof: &pac::GPIOF,
gpiog: &pac::GPIOG,
) {
// FP_LED0
gpiod.otyper.modify(|_, w| w.ot5().push_pull());
gpiod.moder.modify(|_, w| w.moder5().output());
@ -158,18 +182,13 @@ fn gpio_setup(gpioa: &pac::GPIOA, gpiob: &pac::GPIOB, gpiod: &pac::GPIOD,
gpiod.odr.modify(|_, w| w.odr12().low());
// AFE0_A0,1: PG2,PG3
gpiog.otyper.modify(|_, w|
w.ot2().push_pull()
.ot3().push_pull()
);
gpiog.moder.modify(|_, w|
w.moder2().output()
.moder3().output()
);
gpiog.odr.modify(|_, w|
w.odr2().low()
.odr3().low()
);
gpiog
.otyper
.modify(|_, w| w.ot2().push_pull().ot3().push_pull());
gpiog
.moder
.modify(|_, w| w.moder2().output().moder3().output());
gpiog.odr.modify(|_, w| w.odr2().low().odr3().low());
// ADC0
// SCK: PG11
@ -216,32 +235,22 @@ fn gpio_setup(gpioa: &pac::GPIOA, gpiob: &pac::GPIOB, gpiod: &pac::GPIOD,
gpioe.odr.modify(|_, w| w.odr12().high());
// AFE1_A0,1: PD14,PD15
gpiod.otyper.modify(|_, w|
w.ot14().push_pull()
.ot15().push_pull()
);
gpiod.moder.modify(|_, w|
w.moder14().output()
.moder15().output()
);
gpiod.odr.modify(|_, w|
w.odr14().low()
.odr15().low()
);
gpiod
.otyper
.modify(|_, w| w.ot14().push_pull().ot15().push_pull());
gpiod
.moder
.modify(|_, w| w.moder14().output().moder15().output());
gpiod.odr.modify(|_, w| w.odr14().low().odr15().low());
// I2C2: SDA,SCL: PF0,PF1
gpiof.moder.modify(|_, w|
w.moder0().alternate()
.moder1().alternate()
);
gpiof.afrl.modify(|_, w|
w.afr0().af4()
.afr1().af4()
);
gpiof.otyper.modify(|_, w|
w.ot0().open_drain()
.ot1().open_drain()
);
gpiof
.moder
.modify(|_, w| w.moder0().alternate().moder1().alternate());
gpiof.afrl.modify(|_, w| w.afr0().af4().afr1().af4());
gpiof
.otyper
.modify(|_, w| w.ot0().open_drain().ot1().open_drain());
// ADC1
// SCK: PF6
@ -285,81 +294,114 @@ fn gpio_setup(gpioa: &pac::GPIOA, gpiob: &pac::GPIOB, gpiod: &pac::GPIOD,
// ADC0
fn spi1_setup(spi1: &pac::SPI1) {
spi1.cfg1.modify(|_, w|
w.mbr().div4()
.dsize().bits(16 - 1)
.fthlv().one_frame()
);
spi1.cfg2.modify(|_, w|
w.afcntr().controlled()
.ssom().not_asserted()
.ssoe().enabled()
.ssiop().active_low()
.ssm().disabled()
.cpol().idle_high()
.cpha().second_edge()
.lsbfrst().msbfirst()
.master().master()
.sp().motorola()
.comm().receiver()
.ioswp().disabled()
.midi().bits(0)
.mssi().bits(6)
);
spi1.cfg1
.modify(|_, w| w.mbr().div4().dsize().bits(16 - 1).fthlv().one_frame());
spi1.cfg2.modify(|_, w| {
w.afcntr()
.controlled()
.ssom()
.not_asserted()
.ssoe()
.enabled()
.ssiop()
.active_low()
.ssm()
.disabled()
.cpol()
.idle_high()
.cpha()
.second_edge()
.lsbfrst()
.msbfirst()
.master()
.master()
.sp()
.motorola()
.comm()
.receiver()
.ioswp()
.disabled()
.midi()
.bits(0)
.mssi()
.bits(6)
});
spi1.cr2.modify(|_, w| w.tsize().bits(1));
spi1.cr1.write(|w| w.spe().enabled());
}
// ADC1
fn spi5_setup(spi5: &pac::SPI5) {
spi5.cfg1.modify(|_, w|
w.mbr().div4()
.dsize().bits(16 - 1)
.fthlv().one_frame()
);
spi5.cfg2.modify(|_, w|
w.afcntr().controlled()
.ssom().not_asserted()
.ssoe().enabled()
.ssiop().active_low()
.ssm().disabled()
.cpol().idle_high()
.cpha().second_edge()
.lsbfrst().msbfirst()
.master().master()
.sp().motorola()
.comm().receiver()
.ioswp().disabled()
.midi().bits(0)
.mssi().bits(6)
);
spi5.cfg1
.modify(|_, w| w.mbr().div4().dsize().bits(16 - 1).fthlv().one_frame());
spi5.cfg2.modify(|_, w| {
w.afcntr()
.controlled()
.ssom()
.not_asserted()
.ssoe()
.enabled()
.ssiop()
.active_low()
.ssm()
.disabled()
.cpol()
.idle_high()
.cpha()
.second_edge()
.lsbfrst()
.msbfirst()
.master()
.master()
.sp()
.motorola()
.comm()
.receiver()
.ioswp()
.disabled()
.midi()
.bits(0)
.mssi()
.bits(6)
});
spi5.cr2.modify(|_, w| w.tsize().bits(1));
spi5.cr1.write(|w| w.spe().enabled());
}
// DAC0
fn spi2_setup(spi2: &pac::SPI2) {
spi2.cfg1.modify(|_, w|
w.mbr().div2()
.dsize().bits(16 - 1)
.fthlv().one_frame()
);
spi2.cfg2.modify(|_, w|
w.afcntr().controlled()
.ssom().not_asserted()
.ssoe().enabled()
.ssiop().active_low()
.ssm().disabled()
.cpol().idle_low()
.cpha().first_edge()
.lsbfrst().msbfirst()
.master().master()
.sp().motorola()
.comm().transmitter()
.ioswp().disabled()
.midi().bits(0)
.mssi().bits(0)
);
spi2.cfg1
.modify(|_, w| w.mbr().div2().dsize().bits(16 - 1).fthlv().one_frame());
spi2.cfg2.modify(|_, w| {
w.afcntr()
.controlled()
.ssom()
.not_asserted()
.ssoe()
.enabled()
.ssiop()
.active_low()
.ssm()
.disabled()
.cpol()
.idle_low()
.cpha()
.first_edge()
.lsbfrst()
.msbfirst()
.master()
.master()
.sp()
.motorola()
.comm()
.transmitter()
.ioswp()
.disabled()
.midi()
.bits(0)
.mssi()
.bits(0)
});
spi2.cr2.modify(|_, w| w.tsize().bits(0));
spi2.cr1.write(|w| w.spe().enabled());
spi2.cr1.modify(|_, w| w.cstart().started());
@ -367,42 +409,58 @@ fn spi2_setup(spi2: &pac::SPI2) {
// DAC1
fn spi4_setup(spi4: &pac::SPI4) {
spi4.cfg1.modify(|_, w|
w.mbr().div2()
.dsize().bits(16 - 1)
.fthlv().one_frame()
);
spi4.cfg2.modify(|_, w|
w.afcntr().controlled()
.ssom().not_asserted()
.ssoe().enabled()
.ssiop().active_low()
.ssm().disabled()
.cpol().idle_low()
.cpha().first_edge()
.lsbfrst().msbfirst()
.master().master()
.sp().motorola()
.comm().transmitter()
.ioswp().disabled()
.midi().bits(0)
.mssi().bits(0)
);
spi4.cfg1
.modify(|_, w| w.mbr().div2().dsize().bits(16 - 1).fthlv().one_frame());
spi4.cfg2.modify(|_, w| {
w.afcntr()
.controlled()
.ssom()
.not_asserted()
.ssoe()
.enabled()
.ssiop()
.active_low()
.ssm()
.disabled()
.cpol()
.idle_low()
.cpha()
.first_edge()
.lsbfrst()
.msbfirst()
.master()
.master()
.sp()
.motorola()
.comm()
.transmitter()
.ioswp()
.disabled()
.midi()
.bits(0)
.mssi()
.bits(0)
});
spi4.cr2.modify(|_, w| w.tsize().bits(0));
spi4.cr1.write(|w| w.spe().enabled());
spi4.cr1.modify(|_, w| w.cstart().started());
}
fn tim2_setup(tim2: &pac::TIM2) {
tim2.psc.write(|w| w.psc().bits(200 - 1)); // from 200 MHz
tim2.arr.write(|w| unsafe { w.bits(2 - 1) }); // ‘s
tim2.psc.write(|w| w.psc().bits(200 - 1)); // from 200 MHz
tim2.arr.write(|w| unsafe { w.bits(2 - 1) }); // ‘s
tim2.dier.write(|w| w.ude().set_bit());
tim2.egr.write(|w| w.ug().set_bit());
tim2.cr1.modify(|_, w|
w.dir().clear_bit()); // up
tim2.cr1.modify(|_, w| w.dir().clear_bit()); // up
}
fn dma1_setup(dma1: &pac::DMA1, dmamux1: &pac::DMAMUX1, ma: usize, pa0: usize, pa1: usize) {
fn dma1_setup(
dma1: &pac::DMA1,
dmamux1: &pac::DMAMUX1,
ma: usize,
pa0: usize,
pa1: usize,
) {
dma1.st[0].cr.modify(|_, w| w.en().clear_bit());
while dma1.st[0].cr.read().en().bit_is_set() {}
@ -411,17 +469,28 @@ fn dma1_setup(dma1: &pac::DMA1, dmamux1: &pac::DMAMUX1, ma: usize, pa0: usize, p
dma1.st[0].ndtr.write(|w| unsafe { w.ndt().bits(1) });
dmamux1.ccr[0].modify(|_, w| w.dmareq_id().tim2_up());
dma1.st[0].cr.modify(|_, w| unsafe {
w.pl().bits(0b01) // medium
.circ().set_bit() // reload ndtr
.msize().bits(0b10) // 32
.minc().clear_bit()
.mburst().bits(0b00)
.psize().bits(0b10) // 32
.pinc().clear_bit()
.pburst().bits(0b00)
.dbm().clear_bit()
.dir().bits(0b01) // memory_to_peripheral
.pfctrl().clear_bit() // dma is FC
w.pl()
.bits(0b01) // medium
.circ()
.set_bit() // reload ndtr
.msize()
.bits(0b10) // 32
.minc()
.clear_bit()
.mburst()
.bits(0b00)
.psize()
.bits(0b10) // 32
.pinc()
.clear_bit()
.pburst()
.bits(0b00)
.dbm()
.clear_bit()
.dir()
.bits(0b01) // memory_to_peripheral
.pfctrl()
.clear_bit() // dma is FC
});
dma1.st[0].fcr.modify(|_, w| w.dmdis().clear_bit());
dma1.st[0].cr.modify(|_, w| w.en().set_bit());
@ -434,28 +503,39 @@ fn dma1_setup(dma1: &pac::DMA1, dmamux1: &pac::DMAMUX1, ma: usize, pa0: usize, p
dma1.st[1].ndtr.write(|w| unsafe { w.ndt().bits(1) });
dmamux1.ccr[1].modify(|_, w| w.dmareq_id().tim2_up());
dma1.st[1].cr.modify(|_, w| unsafe {
w.pl().bits(0b01) // medium
.circ().set_bit() // reload ndtr
.msize().bits(0b10) // 32
.minc().clear_bit()
.mburst().bits(0b00)
.psize().bits(0b10) // 32
.pinc().clear_bit()
.pburst().bits(0b00)
.dbm().clear_bit()
.dir().bits(0b01) // memory_to_peripheral
.pfctrl().clear_bit() // dma is FC
w.pl()
.bits(0b01) // medium
.circ()
.set_bit() // reload ndtr
.msize()
.bits(0b10) // 32
.minc()
.clear_bit()
.mburst()
.bits(0b00)
.psize()
.bits(0b10) // 32
.pinc()
.clear_bit()
.pburst()
.bits(0b00)
.dbm()
.clear_bit()
.dir()
.bits(0b01) // memory_to_peripheral
.pfctrl()
.clear_bit() // dma is FC
});
dma1.st[1].fcr.modify(|_, w| w.dmdis().clear_bit());
dma1.st[1].cr.modify(|_, w| w.en().set_bit());
}
#[link_section = ".sram1.datspi"]
static mut DAT: u32 = 0x201; // EN | CSTART
static mut DAT: u32 = 0x201; // EN | CSTART
pub fn init() {
let mut cp = unsafe{ cortex_m::Peripherals::steal() };
let dp = unsafe{ pac::Peripherals::steal()};
let mut cp = unsafe { cortex_m::Peripherals::steal() };
let dp = unsafe { pac::Peripherals::steal() };
let rcc = dp.RCC;
rcc_reset(&rcc);
@ -467,18 +547,27 @@ pub fn init() {
cp.SCB.enable_icache();
// TODO: ETH DMA coherence issues
// cp.SCB.enable_dcache(&mut cp.CPUID);
cp.DWT.enable_cycle_counter(); // japaric/cortex-m-rtfm#184
cp.DWT.enable_cycle_counter(); // japaric/cortex-m-rtfm#184
rcc.ahb4enr.modify(|_, w|
w.gpioaen().set_bit()
.gpioben().set_bit()
.gpiocen().set_bit()
.gpioden().set_bit()
.gpioeen().set_bit()
.gpiofen().set_bit()
.gpiogen().set_bit()
rcc.ahb4enr.modify(|_, w| {
w.gpioaen()
.set_bit()
.gpioben()
.set_bit()
.gpiocen()
.set_bit()
.gpioden()
.set_bit()
.gpioeen()
.set_bit()
.gpiofen()
.set_bit()
.gpiogen()
.set_bit()
});
gpio_setup(
&dp.GPIOA, &dp.GPIOB, &dp.GPIOD, &dp.GPIOE, &dp.GPIOF, &dp.GPIOG,
);
gpio_setup(&dp.GPIOA, &dp.GPIOB, &dp.GPIOD, &dp.GPIOE, &dp.GPIOF, &dp.GPIOG);
rcc.apb1lenr.modify(|_, w| w.spi2en().set_bit());
let spi2 = dp.SPI2;
@ -498,22 +587,28 @@ pub fn init() {
spi5_setup(&spi5);
// spi5.ier.write(|w| w.eotie().set_bit());
rcc.ahb2enr.modify(|_, w|
w
.sram1en().set_bit()
.sram2en().set_bit()
.sram3en().set_bit()
);
rcc.ahb2enr.modify(|_, w| {
w.sram1en()
.set_bit()
.sram2en()
.set_bit()
.sram3en()
.set_bit()
});
rcc.ahb1enr.modify(|_, w| w.dma1en().set_bit());
// init SRAM1 rodata can't load with sram1 disabled
unsafe { DAT = 0x201 }; // EN | CSTART
unsafe { DAT = 0x201 }; // EN | CSTART
cortex_m::asm::dsb();
let dat_addr = unsafe { &DAT as *const _ } as usize;
cp.SCB.clean_dcache_by_address(dat_addr, 4);
dma1_setup(&dp.DMA1, &dp.DMAMUX1, dat_addr,
&spi1.cr1 as *const _ as usize,
&spi5.cr1 as *const _ as usize);
dma1_setup(
&dp.DMA1,
&dp.DMAMUX1,
dat_addr,
&spi1.cr1 as *const _ as usize,
&spi5.cr1 as *const _ as usize,
);
rcc.apb1lenr.modify(|_, w| w.tim2en().set_bit());
@ -523,16 +618,21 @@ pub fn init() {
tim2_setup(&dp.TIM2);
rcc.apb1lenr.modify(|_,w| w.i2c2en().set_bit());
rcc.apb1lenr.modify(|_, w| w.i2c2en().set_bit());
i2c::setup(&dp.I2C2);
rcc.apb4enr.modify(|_, w| w.syscfgen().set_bit());
rcc.ahb1enr.modify(|_, w| {
w.eth1macen().set_bit()
.eth1txen().set_bit()
.eth1rxen().set_bit()
w.eth1macen()
.set_bit()
.eth1txen()
.set_bit()
.eth1rxen()
.set_bit()
});
dp.SYSCFG.pmcr.modify(|_, w| unsafe { w.epis().bits(0b100) }); // RMII
dp.SYSCFG
.pmcr
.modify(|_, w| unsafe { w.epis().bits(0b100) }); // RMII
eth::setup_pins(&dp.GPIOA, &dp.GPIOB, &dp.GPIOC, &dp.GPIOG);
// enable TIM2 this must be late to be able to handle the first ADC SPI

2
src/eeprom.rs
View File

@ -1,5 +1,5 @@
use stm32h7::stm32h743 as pac;
use super::i2c;
use stm32h7::stm32h743 as pac;
const I2C_ADDR: u8 = 0xa0;

311
src/eth.rs
View File

@ -1,9 +1,9 @@
use core::{slice, cmp};
use stm32h7::stm32h743 as pac;
use smoltcp::Result;
use core::{cmp, slice};
use smoltcp::phy;
use smoltcp::time::Instant;
use smoltcp::wire::EthernetAddress;
use smoltcp::phy;
use smoltcp::Result;
use stm32h7::stm32h743 as pac;
#[allow(dead_code)]
mod phy_consts {
@ -16,7 +16,7 @@ mod phy_consts {
pub const PHY_REG_ANEXP: u8 = 0x06;
pub const PHY_REG_ANNPTX: u8 = 0x07;
pub const PHY_REG_ANNPRX: u8 = 0x08;
pub const PHY_REG_SSR: u8 = 0x1F; // Special Status Register
pub const PHY_REG_SSR: u8 = 0x1F; // Special Status Register
pub const PHY_REG_CTL: u8 = 0x0D; // Ethernet PHY Register Control
pub const PHY_REG_ADDAR: u8 = 0x0E; // Ethernet PHY Address or Data
@ -85,8 +85,12 @@ use self::cr_consts::*;
// 200 MHz AHB clock = eth_hclk
const CLOCK_RANGE: u8 = ETH_MACMIIAR_CR_HCLK_DIV_102;
pub fn setup_pins(gpioa: &pac::GPIOA, gpiob: &pac::GPIOB,
gpioc: &pac::GPIOC, gpiog: &pac::GPIOG) {
pub fn setup_pins(
gpioa: &pac::GPIOA,
gpiob: &pac::GPIOB,
gpioc: &pac::GPIOC,
gpiog: &pac::GPIOG,
) {
// PA1 RMII_REF_CLK
gpioa.moder.modify(|_, w| w.moder1().alternate());
gpioa.afrl.modify(|_, w| w.afr1().af11());
@ -130,12 +134,16 @@ const PHY_ADDR: u8 = 0;
fn phy_read(reg_addr: u8, mac: &pac::ETHERNET_MAC) -> u16 {
while mac.macmdioar.read().mb().bit_is_set() {}
mac.macmdioar.modify(|_, w| unsafe {
w
.pa().bits(PHY_ADDR)
.rda().bits(reg_addr)
.goc().bits(0b11) // read
.cr().bits(CLOCK_RANGE)
.mb().set_bit()
w.pa()
.bits(PHY_ADDR)
.rda()
.bits(reg_addr)
.goc()
.bits(0b11) // read
.cr()
.bits(CLOCK_RANGE)
.mb()
.set_bit()
});
while mac.macmdioar.read().mb().bit_is_set() {}
mac.macmdiodr.read().md().bits()
@ -145,12 +153,16 @@ fn phy_write(reg_addr: u8, reg_data: u16, mac: &pac::ETHERNET_MAC) {
while mac.macmdioar.read().mb().bit_is_set() {}
mac.macmdiodr.write(|w| unsafe { w.md().bits(reg_data) });
mac.macmdioar.modify(|_, w| unsafe {
w
.pa().bits(PHY_ADDR)
.rda().bits(reg_addr)
.goc().bits(0b01) // write
.cr().bits(CLOCK_RANGE)
.mb().set_bit()
w.pa()
.bits(PHY_ADDR)
.rda()
.bits(reg_addr)
.goc()
.bits(0b01) // write
.cr()
.bits(CLOCK_RANGE)
.mb()
.set_bit()
});
while mac.macmdioar.read().mb().bit_is_set() {}
}
@ -195,7 +207,8 @@ impl RxRing {
let addr = &self.desc_buf as *const _ as u32;
assert_eq!(addr & 0x3, 0);
dma.dmacrx_dlar.write(|w| w.bits(addr));
dma.dmacrx_rlr.write(|w| w.rdrl().bits(self.desc_buf.len() as u16 - 1));
dma.dmacrx_rlr
.write(|w| w.rdrl().bits(self.desc_buf.len() as u16 - 1));
self.cur_desc = 0;
for _ in 0..self.desc_buf.len() {
@ -213,9 +226,9 @@ impl RxRing {
}
fn buf_valid(&self) -> bool {
self.desc_buf[self.cur_desc][3] &
(EMAC_DES3_FD | EMAC_DES3_LD | EMAC_DES3_ES | EMAC_DES3_CTXT) ==
(EMAC_DES3_FD | EMAC_DES3_LD)
self.desc_buf[self.cur_desc][3]
& (EMAC_DES3_FD | EMAC_DES3_LD | EMAC_DES3_ES | EMAC_DES3_CTXT)
== (EMAC_DES3_FD | EMAC_DES3_LD)
}
unsafe fn buf_as_slice_mut<'a>(&self) -> &'a mut [u8] {
@ -228,7 +241,8 @@ impl RxRing {
fn buf_release(&mut self) {
let addr = &self.pkt_buf[self.cur_desc] as *const _;
self.desc_buf[self.cur_desc][0] = addr as u32 & EMAC_DES0_BUF1AP;
self.desc_buf[self.cur_desc][3] = EMAC_RDES3_BUF1V | EMAC_RDES3_IOC | EMAC_DES3_OWN;
self.desc_buf[self.cur_desc][3] =
EMAC_RDES3_BUF1V | EMAC_RDES3_IOC | EMAC_DES3_OWN;
let addr = &self.desc_buf[self.cur_desc] as *const _ as u32;
assert_eq!(addr & 0x3, 0);
@ -278,7 +292,8 @@ impl TxRing {
let addr = &self.desc_buf as *const _ as u32;
assert_eq!(addr & 0x3, 0);
dma.dmactx_dlar.write(|w| w.bits(addr));
dma.dmactx_rlr.write(|w| w.tdrl().bits(self.desc_buf.len() as u16 - 1));
dma.dmactx_rlr
.write(|w| w.tdrl().bits(self.desc_buf.len() as u16 - 1));
let addr = &self.desc_buf[0] as *const _ as u32;
assert_eq!(addr & 0x3, 0);
dma.dmactx_dtpr.write(|w| w.bits(addr));
@ -295,14 +310,16 @@ impl TxRing {
unsafe fn buf_as_slice_mut<'a>(&mut self, len: usize) -> &'a mut [u8] {
let len = cmp::min(len, ETH_BUFFER_SIZE);
self.desc_buf[self.cur_desc][2] = EMAC_TDES2_IOC | (len as u32 & EMAC_TDES2_B1L);
self.desc_buf[self.cur_desc][2] =
EMAC_TDES2_IOC | (len as u32 & EMAC_TDES2_B1L);
let addr = &self.pkt_buf[self.cur_desc] as *const _ as *mut u8;
self.desc_buf[self.cur_desc][0] = addr as u32 & EMAC_DES0_BUF1AP;
slice::from_raw_parts_mut(addr, len)
}
fn buf_release(&mut self) {
self.desc_buf[self.cur_desc][3] = EMAC_DES3_OWN | EMAC_DES3_FD | EMAC_DES3_LD;
self.desc_buf[self.cur_desc][3] =
EMAC_DES3_OWN | EMAC_DES3_FD | EMAC_DES3_LD;
self.cur_desc = self.next_desc();
let addr = &self.desc_buf[self.cur_desc] as *const _ as u32;
@ -325,7 +342,10 @@ pub struct Device {
impl Device {
pub const fn new() -> Self {
Self{ rx: RxRing::new(), tx: TxRing::new() }
Self {
rx: RxRing::new(),
tx: TxRing::new(),
}
}
// Initialize the ethernet peripherals
@ -337,75 +357,108 @@ impl Device {
// are correct.
//
// After `init` is called, `Device` shall not be moved.
pub unsafe fn init(&mut self, mac: EthernetAddress,
eth_mac: &pac::ETHERNET_MAC,
eth_dma: &pac::ETHERNET_DMA,
eth_mtl: &pac::ETHERNET_MTL,
) {
pub unsafe fn init(
&mut self,
mac: EthernetAddress,
eth_mac: &pac::ETHERNET_MAC,
eth_dma: &pac::ETHERNET_DMA,
eth_mtl: &pac::ETHERNET_MTL,
) {
eth_dma.dmamr.modify(|_, w| w.swr().set_bit());
while eth_dma.dmamr.read().swr().bit_is_set() {}
// 200 MHz
eth_mac.mac1ustcr.modify(|_, w| w.tic_1us_cntr().bits(200 - 1));
eth_mac
.mac1ustcr
.modify(|_, w| w.tic_1us_cntr().bits(200 - 1));
// Configuration Register
eth_mac.maccr.modify(|_, w| {
w
.arpen().clear_bit()
.ipc().set_bit()
.ipg().bits(0b000) // 96 bit
.ecrsfd().clear_bit()
.dcrs().clear_bit()
.bl().bits(0b00) // 19
.prelen().bits(0b00) // 7
w.arpen()
.clear_bit()
.ipc()
.set_bit()
.ipg()
.bits(0b000) // 96 bit
.ecrsfd()
.clear_bit()
.dcrs()
.clear_bit()
.bl()
.bits(0b00) // 19
.prelen()
.bits(0b00) // 7
// CRC stripping for Type frames
.cst().set_bit()
.cst()
.set_bit()
// Fast Ethernet speed
.fes().set_bit()
.fes()
.set_bit()
// Duplex mode
.dm().set_bit()
.dm()
.set_bit()
// Automatic pad/CRC stripping
.acs().set_bit()
.acs()
.set_bit()
// Retry disable in half-duplex mode
.dr().set_bit()
.dr()
.set_bit()
});
eth_mac.macecr.modify(|_, w| {
w
.eipgen().clear_bit()
.usp().clear_bit()
.spen().clear_bit()
.dcrcc().clear_bit()
w.eipgen()
.clear_bit()
.usp()
.clear_bit()
.spen()
.clear_bit()
.dcrcc()
.clear_bit()
});
// Set the MAC address
eth_mac.maca0lr.write(|w|
w.addrlo().bits( u32::from(mac.0[0]) |
(u32::from(mac.0[1]) << 8) |
(u32::from(mac.0[2]) << 16) |
(u32::from(mac.0[3]) << 24))
);
eth_mac.maca0hr.write(|w|
w.addrhi().bits( u16::from(mac.0[4]) |
(u16::from(mac.0[5]) << 8))
);
eth_mac.maca0lr.write(|w| {
w.addrlo().bits(
u32::from(mac.0[0])
| (u32::from(mac.0[1]) << 8)
| (u32::from(mac.0[2]) << 16)
| (u32::from(mac.0[3]) << 24),
)
});
eth_mac.maca0hr.write(|w| {
w.addrhi()
.bits(u16::from(mac.0[4]) | (u16::from(mac.0[5]) << 8))
});
// frame filter register
eth_mac.macpfr.modify(|_, w| {
w
.dntu().clear_bit()
.ipfe().clear_bit()
.vtfe().clear_bit()
.hpf().clear_bit()
.saf().clear_bit()
.saif().clear_bit()
.pcf().bits(0b00)
.dbf().clear_bit()
.pm().clear_bit()
.daif().clear_bit()
.hmc().clear_bit()
.huc().clear_bit()
w.dntu()
.clear_bit()
.ipfe()
.clear_bit()
.vtfe()
.clear_bit()
.hpf()
.clear_bit()
.saf()
.clear_bit()
.saif()
.clear_bit()
.pcf()
.bits(0b00)
.dbf()
.clear_bit()
.pm()
.clear_bit()
.daif()
.clear_bit()
.hmc()
.clear_bit()
.huc()
.clear_bit()
// Receive All
.ra().clear_bit()
.ra()
.clear_bit()
// Promiscuous mode
.pr().clear_bit()
.pr()
.clear_bit()
});
eth_mac.macwtr.write(|w| w.pwe().clear_bit());
// Flow Control Register
@ -414,31 +467,44 @@ impl Device {
w.pt().bits(0x100)
});
eth_mac.macrx_fcr.modify(|_, w| w);
eth_mtl.mtlrx_qomr.modify(|_, w|
eth_mtl.mtlrx_qomr.modify(|_, w| {
w
// Receive store and forward
.rsf().set_bit()
.rsf()
.set_bit()
// Dropping of TCP/IP checksum error frames disable
.dis_tcp_ef().clear_bit()
.dis_tcp_ef()
.clear_bit()
// Forward error frames
.fep().clear_bit()
.fep()
.clear_bit()
// Forward undersized good packets
.fup().clear_bit()
);
.fup()
.clear_bit()
});
eth_mtl.mtltx_qomr.modify(|_, w| {
w
// Transmit store and forward
.tsf().set_bit()
.tsf()
.set_bit()
});
if (phy_read(PHY_REG_ID1, eth_mac) != 0x0007) | (phy_read(PHY_REG_ID2, eth_mac) != 0xC131) {
if (phy_read(PHY_REG_ID1, eth_mac) != 0x0007)
| (phy_read(PHY_REG_ID2, eth_mac) != 0xC131)
{
error!("PHY ID error!");
}
phy_write(PHY_REG_BCR, PHY_REG_BCR_RESET, eth_mac);
while phy_read(PHY_REG_BCR, eth_mac) & PHY_REG_BCR_RESET == PHY_REG_BCR_RESET {};
while phy_read(PHY_REG_BCR, eth_mac) & PHY_REG_BCR_RESET
== PHY_REG_BCR_RESET
{}
phy_write_ext(PHY_REG_WUCSR, 0, eth_mac);
phy_write(PHY_REG_BCR, PHY_REG_BCR_AN | PHY_REG_BCR_ANRST | PHY_REG_BCR_100M, eth_mac);
phy_write(
PHY_REG_BCR,
PHY_REG_BCR_AN | PHY_REG_BCR_ANRST | PHY_REG_BCR_100M,
eth_mac,
);
/*
while phy_read(PHY_REG_BSR) & PHY_REG_BSR_UP == 0 {};
while phy_read(PHY_REG_BSR) & PHY_REG_BSR_ANDONE == 0 {};
@ -448,43 +514,51 @@ impl Device {
// operation mode register
eth_dma.dmamr.modify(|_, w| {
w
.intm().bits(0b00)
w.intm()
.bits(0b00)
// Rx Tx priority ratio 1:1
.pr().bits(0b000)
.txpr().clear_bit()
.da().clear_bit()
.pr()
.bits(0b000)
.txpr()
.clear_bit()
.da()
.clear_bit()
});
// bus mode register
eth_dma.dmasbmr.modify(|_, w| {
// Address-aligned beats
w.aal().set_bit()
w.aal()
.set_bit()
// Fixed burst
.fb().set_bit()
});
eth_dma.dmaccr.modify(|_, w| {
w
.dsl().bits(0)
.pblx8().clear_bit()
.mss().bits(536)
.fb()
.set_bit()
});
eth_dma
.dmaccr
.modify(|_, w| w.dsl().bits(0).pblx8().clear_bit().mss().bits(536));
eth_dma.dmactx_cr.modify(|_, w| {
w
// Tx DMA PBL
.txpbl().bits(32)
.tse().clear_bit()
.txpbl()
.bits(32)
.tse()
.clear_bit()
// Operate on second frame
.osf().clear_bit()
.osf()
.clear_bit()
});
eth_dma.dmacrx_cr.modify(|_, w| {
w
// receive buffer size
.rbsz().bits(ETH_BUFFER_SIZE as u16)
.rbsz()
.bits(ETH_BUFFER_SIZE as u16)
// Rx DMA PBL
.rxpbl().bits(32)
.rxpbl()
.bits(32)
// Disable flushing of received frames
.rpf().clear_bit()
.rpf()
.clear_bit()
});
self.rx.init(eth_dma);
@ -492,8 +566,10 @@ impl Device {
// Manage MAC transmission and reception
eth_mac.maccr.modify(|_, w| {
w.re().bit(true) // Receiver Enable
.te().bit(true) // Transmiter Enable
w.re()
.bit(true) // Receiver Enable
.te()
.bit(true) // Transmiter Enable
});
eth_mtl.mtltx_qomr.modify(|_, w| w.ftq().set_bit());
@ -505,10 +581,9 @@ impl Device {
eth_dma.dmactx_cr.modify(|_, w| w.st().set_bit());
eth_dma.dmacrx_cr.modify(|_, w| w.sr().set_bit());
eth_dma.dmacsr.modify(|_, w|
w.tps().set_bit()
.rps().set_bit()
);
eth_dma
.dmacsr
.modify(|_, w| w.tps().set_bit().rps().set_bit());
}
}
@ -532,7 +607,7 @@ impl<'a, 'b> phy::Device<'a> for &'b mut Device {
}
if !(self.rx.buf_owned() && self.tx.buf_owned()) {
return None
return None;
}
Some((RxToken(&mut self.rx), TxToken(&mut self.tx)))
@ -540,7 +615,7 @@ impl<'a, 'b> phy::Device<'a> for &'b mut Device {
fn transmit(&mut self) -> Option<TxToken> {
if !self.tx.buf_owned() {
return None
return None;
}
Some(TxToken(&mut self.tx))
@ -551,7 +626,9 @@ pub struct RxToken<'a>(&'a mut RxRing);
impl<'a> phy::RxToken for RxToken<'a> {
fn consume<R, F>(self, _timestamp: Instant, f: F) -> Result<R>
where F: FnOnce(&mut [u8]) -> Result<R> {
where
F: FnOnce(&mut [u8]) -> Result<R>,
{
let result = f(unsafe { self.0.buf_as_slice_mut() });
self.0.buf_release();
result
@ -562,7 +639,9 @@ pub struct TxToken<'a>(&'a mut TxRing);
impl<'a> phy::TxToken for TxToken<'a> {
fn consume<R, F>(self, _timestamp: Instant, len: usize, f: F) -> Result<R>
where F: FnOnce(&mut [u8]) -> Result<R> {
where
F: FnOnce(&mut [u8]) -> Result<R>,
{
let result = f(unsafe { self.0.buf_as_slice_mut(len) });
self.0.buf_release();
result

54
src/i2c.rs
View File

@ -12,7 +12,7 @@ pub enum Error {
// Address not ACKd within a reasonable time (no device present?)
Timeout,
// Unexpected NACK during transfer
NAck
NAck,
}
// Maximum number of times to retry NACKed address phase before timing out
@ -20,25 +20,28 @@ pub enum Error {
// EEPROMs during write)
const N_RETRY: usize = 100; // ~ 10ms @ 100 kHz bus clock
pub fn setup(i2c: &pac::I2C2) {
// Disable the peripheral before setting timings
i2c.cr1.modify(|_, w| w.pe().clear_bit());
// Values from STM32MXCube for 100 kHz I2C clock with 100 MHz peripheral clock
i2c.timingr.modify( |_,w|
w.presc().bits(1)
.scldel().bits(0x12)
.sdadel().bits(0)
.sclh().bits(0xec)
.scll().bits(0xff)
);
i2c.timingr.modify(|_, w| {
w.presc()
.bits(1)
.scldel()
.bits(0x12)
.sdadel()
.bits(0)
.sclh()
.bits(0xec)
.scll()
.bits(0xff)
});
// Enable the peripheral
i2c.cr1.write(|w| w.pe().set_bit());
}
// Busy-wait for a flag to be asserted, erroring out on unrecoverable problems
macro_rules! busy_wait_errors {
($i2c:expr, $flag:ident) => {
@ -58,25 +61,29 @@ macro_rules! busy_wait_errors {
};
}
fn poll_for_start_ack(
i2c: &pac::I2C2,
addr: u8,
r_wn: bool,
data_len: usize,
autoend: bool,
start: bool
) -> Result<(), Error>
{
start: bool,
) -> Result<(), Error> {
for _i in 0..N_RETRY {
// START and prepare to send `data_len`
i2c.cr2.write(|w| {
w.start().bit(start)
.sadd().bits(addr as u16)
.add10().clear_bit()
.rd_wrn().bit(r_wn)
.nbytes().bits( data_len as u8 )
.autoend().bit(autoend)
w.start()
.bit(start)
.sadd()
.bits(addr as u16)
.add10()
.clear_bit()
.rd_wrn()
.bit(r_wn)
.nbytes()
.bits(data_len as u8)
.autoend()
.bit(autoend)
});
loop {
@ -87,7 +94,7 @@ fn poll_for_start_ack(
} else if isr.arlo().bit_is_set() {
return Err(Error::Arbitration);
} else if isr.nackf().bit_is_set() {
i2c.icr.write(|w| { w.nackcf().set_bit() });
i2c.icr.write(|w| w.nackcf().set_bit());
// Wait to finish handling NACK-STOP
loop {
if i2c.isr.read().busy().bit_is_clear() {
@ -96,7 +103,7 @@ fn poll_for_start_ack(
}
break;
} else if isr.txis().bit_is_set() || isr.rxne().bit_is_set() {
return Ok(())
return Ok(());
}
}
}
@ -104,7 +111,6 @@ fn poll_for_start_ack(
Err(Error::Timeout)
}
pub fn write_read(
i2c: &pac::I2C2,
addr: u8,
@ -126,7 +132,7 @@ pub fn write_read(
// Wait until the last transmission is finished
busy_wait_errors!(i2c, tc);
poll_for_start_ack(i2c, addr|1, true, buffer.len(), true, true)?;
poll_for_start_ack(i2c, addr | 1, true, buffer.len(), true, true)?;
for byte in buffer {
// Wait until we have received something

62
src/iir.rs
View File

@ -1,11 +1,11 @@
use core::ops::{Add, Mul};
use serde::{Serialize, Deserialize};
use serde::{Deserialize, Serialize};
use core::f32;
pub type IIRState = [f32; 5];
#[derive(Copy,Clone,Deserialize,Serialize)]
#[derive(Copy, Clone, Deserialize, Serialize)]
pub struct IIR {
pub ba: IIRState,
pub y_offset: f32,
@ -14,7 +14,11 @@ pub struct IIR {
}
fn abs(x: f32) -> f32 {
if x >= 0. { x } else { -x }
if x >= 0. {
x
} else {
-x
}
}
fn copysign(x: f32, y: f32) -> f32 {
@ -26,37 +30,51 @@ fn copysign(x: f32, y: f32) -> f32 {
}
fn max(x: f32, y: f32) -> f32 {
if x > y { x } else { y }
if x > y {
x
} else {
y
}
}
fn min(x: f32, y: f32) -> f32 {
if x < y { x } else { y }
if x < y {
x
} else {
y
}
}
fn macc<T>(y0: T, x: &[T], a: &[T]) -> T
where T: Add<Output=T> + Mul<Output=T> + Copy
where
T: Add<Output = T> + Mul<Output = T> + Copy,
{
x.iter().zip(a.iter()).map(|(&i, &j)| i * j).fold(y0, |y, xa| y + xa)
x.iter()
.zip(a.iter())
.map(|(&i, &j)| i * j)
.fold(y0, |y, xa| y + xa)
}
impl IIR {
pub fn set_pi(&mut self, kp: f32, ki: f32, g: f32) -> Result<(), &str> {
let ki = copysign(ki, kp);
let g = copysign(g, kp);
let (a1, b0, b1) =
if abs(ki) < f32::EPSILON {
(0., kp, 0.)
let (a1, b0, b1) = if abs(ki) < f32::EPSILON {
(0., kp, 0.)
} else {
let c = if abs(g) < f32::EPSILON {
1.
} else {
let c = if abs(g) < f32::EPSILON { 1. }
else { 1./(1. + ki/g) };
let a1 = 2.*c - 1.;
let b0 = ki*c + kp;
let b1 = ki*c - a1*kp;
if abs(b0 + b1) < f32::EPSILON {
return Err("low integrator gain and/or gain limit")
}
(a1, b0, b1)
1. / (1. + ki / g)
};
let a1 = 2. * c - 1.;
let b0 = ki * c + kp;
let b1 = ki * c - a1 * kp;
if abs(b0 + b1) < f32::EPSILON {
return Err("low integrator gain and/or gain limit");
}
(a1, b0, b1)
};
self.ba[0] = b0;
self.ba[1] = b1;
self.ba[2] = 0.;
@ -70,13 +88,13 @@ impl IIR {
if abs(b) < f32::EPSILON {
Err("b is zero")
} else {
Ok(self.y_offset/b)
Ok(self.y_offset / b)
}
}
pub fn set_x_offset(&mut self, xo: f32) {
let b: f32 = self.ba[..3].iter().sum();
self.y_offset = xo*b;
self.y_offset = xo * b;
}
pub fn update(&self, xy: &mut IIRState, x0: f32) -> f32 {
@ -84,7 +102,7 @@ impl IIR {
xy[0] = x0;
let y0 = macc(self.y_offset, xy, &self.ba);
let y0 = max(self.y_min, min(self.y_max, y0));
xy[xy.len()/2] = y0;
xy[xy.len() / 2] = y0;
y0
}
}

179
src/main.rs
View File

@ -1,6 +1,5 @@
#![deny(warnings)]
#![allow(clippy::missing_safety_doc)]
#![no_std]
#![no_main]
#![cfg_attr(feature = "nightly", feature(asm))]
@ -13,8 +12,10 @@
#[cfg(all(feature = "nightly", not(feature = "semihosting")))]
fn panic(_info: &core::panic::PanicInfo) -> ! {
let gpiod = unsafe { &*pac::GPIOD::ptr() };
gpiod.odr.modify(|_, w| w.odr6().high().odr12().high()); // FP_LED_1, FP_LED_3
unsafe { core::intrinsics::abort(); }
gpiod.odr.modify(|_, w| w.odr6().high().odr12().high()); // FP_LED_1, FP_LED_3
unsafe {
core::intrinsics::abort();
}
}
#[cfg(feature = "semihosting")]
@ -30,40 +31,38 @@ use core::ptr;
// use core::sync::atomic::{AtomicU32, AtomicBool, Ordering};
use core::fmt::Write;
use cortex_m_rt::exception;
use stm32h7::stm32h743 as pac;
use heapless::{String, Vec, consts::*};
use heapless::{consts::*, String, Vec};
use rtfm::cyccnt::{Instant, U32Ext as _};
use stm32h7::stm32h743 as pac;
use smoltcp as net;
use serde::{Serialize, Deserialize, de::DeserializeOwned};
use serde_json_core::{ser::to_string, de::from_slice};
use serde::{de::DeserializeOwned, Deserialize, Serialize};
use serde_json_core::{de::from_slice, ser::to_string};
mod eth;
mod iir;
use iir::*;
mod i2c;
mod eeprom;
mod board;
mod eeprom;
mod i2c;
#[cfg(not(feature = "semihosting"))]
fn init_log() {}
#[cfg(feature = "semihosting")]
fn init_log() {
use cortex_m_log::log::{init as init_log, Logger};
use cortex_m_log::printer::semihosting::{hio::HStdout, InterruptOk};
use log::LevelFilter;
use cortex_m_log::log::{Logger, init as init_log};
use cortex_m_log::printer::semihosting::{InterruptOk, hio::HStdout};
static mut LOGGER: Option<Logger<InterruptOk<HStdout>>> = None;
let logger = Logger {
inner: InterruptOk::<_>::stdout().unwrap(),
level: LevelFilter::Info,
};
let logger = unsafe {
LOGGER.get_or_insert(logger)
};
let logger = unsafe { LOGGER.get_or_insert(logger) };
init_log(logger).unwrap();
}
@ -74,7 +73,6 @@ mod build_info {
// include!(concat!(env!("OUT_DIR"), "/built.rs"));
}
const SCALE: f32 = ((1 << 15) - 1) as f32;
// static ETHERNET_PENDING: AtomicBool = AtomicBool::new(true);
@ -83,14 +81,17 @@ const TCP_RX_BUFFER_SIZE: usize = 8192;
const TCP_TX_BUFFER_SIZE: usize = 8192;
macro_rules! create_socket {
($set:ident, $rx_storage:ident, $tx_storage:ident, $target:ident) => (
($set:ident, $rx_storage:ident, $tx_storage:ident, $target:ident) => {
let mut $rx_storage = [0; TCP_RX_BUFFER_SIZE];
let mut $tx_storage = [0; TCP_TX_BUFFER_SIZE];
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);
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);
let $target = $set.add(tcp_socket);
)
};
}
#[rtfm::app(device = stm32h7::stm32h743, peripherals = true, monotonic = rtfm::cyccnt::CYCCNT)]
@ -98,7 +99,8 @@ const APP: () = {
struct Resources {
spi: (pac::SPI1, pac::SPI2, pac::SPI4, pac::SPI5),
i2c: pac::I2C2,
ethernet_periph: (pac::ETHERNET_MAC, pac::ETHERNET_DMA, pac::ETHERNET_MTL),
ethernet_periph:
(pac::ETHERNET_MAC, pac::ETHERNET_DMA, pac::ETHERNET_MTL),
#[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])]
@ -123,7 +125,11 @@ const APP: () = {
init::LateResources {
spi: (dp.SPI1, dp.SPI2, dp.SPI4, dp.SPI5),
i2c: dp.I2C2,
ethernet_periph: (dp.ETHERNET_MAC, dp.ETHERNET_DMA, dp.ETHERNET_MTL),
ethernet_periph: (
dp.ETHERNET_MAC,
dp.ETHERNET_DMA,
dp.ETHERNET_MTL,
),
}
}
@ -135,23 +141,26 @@ const APP: () = {
Err(_) => {
info!("Could not read EEPROM, using default MAC address");
net::wire::EthernetAddress([0x10, 0xE2, 0xD5, 0x00, 0x03, 0x00])
},
Ok(raw_mac) => net::wire::EthernetAddress(raw_mac)
}
Ok(raw_mac) => net::wire::EthernetAddress(raw_mac),
};
info!("MAC: {}", hardware_addr);
unsafe { c.resources.ethernet.init(hardware_addr, MAC, DMA, MTL) };
let mut neighbor_cache_storage = [None; 8];
let neighbor_cache = net::iface::NeighborCache::new(&mut neighbor_cache_storage[..]);
let neighbor_cache =
net::iface::NeighborCache::new(&mut neighbor_cache_storage[..]);
let local_addr = net::wire::IpAddress::v4(10, 0, 16, 99);
let mut ip_addrs = [net::wire::IpCidr::new(local_addr, 24)];
let mut iface = net::iface::EthernetInterfaceBuilder::new(c.resources.ethernet)
.ethernet_addr(hardware_addr)
.neighbor_cache(neighbor_cache)
.ip_addrs(&mut ip_addrs[..])
.finalize();
let mut iface =
net::iface::EthernetInterfaceBuilder::new(c.resources.ethernet)
.ethernet_addr(hardware_addr)
.neighbor_cache(neighbor_cache)
.ip_addrs(&mut ip_addrs[..])
.finalize();
let mut socket_set_entries: [_; 8] = Default::default();
let mut sockets = net::socket::SocketSet::new(&mut socket_set_entries[..]);
let mut sockets =
net::socket::SocketSet::new(&mut socket_set_entries[..]);
create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle0);
create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle1);
@ -170,41 +179,55 @@ const APP: () = {
time += 1;
}
{
let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle0);
let socket =
&mut *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));
socket
.listen(1234)
.unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
} else if tick && socket.can_send() {
let s = iir_state.lock(|iir_state| Status {
t: time,
x0: iir_state[0][0],
y0: iir_state[0][2],
x1: iir_state[1][0],
y1: iir_state[1][2]
y1: iir_state[1][2],
});
json_reply(socket, &s);
}
}
{
let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle1);
let socket =
&mut *sockets.get::<net::socket::TcpSocket>(tcp_handle1);
if socket.state() == net::socket::TcpState::CloseWait {
socket.close();
} else if !(socket.is_open() || socket.is_listening()) {
socket.listen(1235).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
socket
.listen(1235)
.unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
} else {
server.poll(socket, |req: &Request| {
if req.channel < 2 {
iir_ch.lock(|iir_ch| iir_ch[req.channel as usize] = req.iir);
iir_ch.lock(|iir_ch| {
iir_ch[req.channel as usize] = req.iir
});
}
});
}
}
if !match iface.poll(&mut sockets, net::time::Instant::from_millis(time as i64)) {
if !match iface.poll(
&mut sockets,
net::time::Instant::from_millis(time as i64),
) {
Ok(changed) => changed,
Err(net::Error::Unrecognized) => true,
Err(e) => { info!("iface poll error: {:?}", e); true }
Err(e) => {
info!("iface poll error: {:?}", e);
true
}
} {
// cortex_m::asm::wfi();
}
@ -278,7 +301,7 @@ const APP: () = {
}
};
#[derive(Deserialize,Serialize)]
#[derive(Deserialize, Serialize)]
struct Request {
channel: u8,
iir: IIR,
@ -296,7 +319,7 @@ struct Status {
x0: f32,
y0: f32,
x1: f32,
y1: f32
y1: f32,
}
fn json_reply<T: Serialize>(socket: &mut net::socket::TcpSocket, msg: &T) {
@ -312,32 +335,48 @@ struct Server {
impl Server {
fn new() -> Self {
Self { data: Vec::new(), discard: false }
Self {
data: Vec::new(),
discard: false,
}
}
fn poll<T, F, R>(&mut self, socket: &mut net::socket::TcpSocket, f: F) -> Option<R>
where
T: DeserializeOwned,
F: FnOnce(&T) -> R,
fn poll<T, F, R>(
&mut self,
socket: &mut net::socket::TcpSocket,
f: F,
) -> Option<R>
where
T: DeserializeOwned,
F: FnOnce(&T) -> R,
{
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" });
json_reply(
socket,
&Response {
code: 520,
message: "command buffer overflow",
},
);
self.data.clear();
} else {
let r = from_slice::<T>(&self.data[..self.data.len() - 1]);
@ -345,13 +384,25 @@ impl Server {
match r {
Ok(res) => {
let r = f(&res);
json_reply(socket, &Response { code: 200, message: "ok" });
json_reply(
socket,
&Response {
code: 200,
message: "ok",
},
);
return Some(r);
},
}
Err(err) => {
warn!("parse error {:?}", err);
json_reply(socket, &Response { code: 550, message: "parse error" });
},
json_reply(
socket,
&Response {
code: 550,
message: "parse error",
},
);
}
}
}
}