rtfm: move ethernet into idle
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parent
6be0ccfc6a
commit
b646c44c1c
174
src/main.rs
174
src/main.rs
@ -497,9 +497,6 @@ static mut DAT: u32 = 0x201; // EN | CSTART
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static ETHERNET_PENDING: AtomicBool = AtomicBool::new(true);
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#[link_section = ".sram3.eth"]
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static mut ETHERNET: eth::Device = eth::Device::new();
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const TCP_RX_BUFFER_SIZE: usize = 8192;
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const TCP_TX_BUFFER_SIZE: usize = 8192;
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@ -527,8 +524,10 @@ const APP: () = {
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y_max: SCALE
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};
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2];
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// static IFACE: net::iface::EthernetInterface<'static, 'static, 'static, eth::Device> = ();
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// static SOCKETS: net::socket::SocketSet<'static, 'static, 'static> = ();
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static ETHERNET_PERIPH: (stm32::ETHERNET_MAC, stm32::ETHERNET_DMA, stm32::ETHERNET_MTL) = ();
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#[link_section = ".sram3.eth"]
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static mut ETHERNET: eth::Device = eth::Device::new();
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#[init(schedule = [tick])]
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fn init(c: init::Context) -> init::LateResources {
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@ -605,17 +604,30 @@ const APP: () = {
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let dbgmcu = dp.DBGMCU;
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dbgmcu.apb1lfz1.modify(|_, w| w.tim2().set_bit());
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tim2_setup(&dp.TIM2);
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eth::setup(&rcc, &dp.SYSCFG);
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eth::setup_pins(&dp.GPIOA, &dp.GPIOB, &dp.GPIOC, &dp.GPIOG);
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let device = unsafe { &mut ETHERNET };
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c.schedule.tick(rtfm::Instant::now()).unwrap();
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init::LateResources {
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SPI: (spi1, spi2, spi4, spi5),
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ETHERNET_PERIPH: (dp.ETHERNET_MAC, dp.ETHERNET_DMA, dp.ETHERNET_MTL),
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}
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}
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#[idle(resources = [ETHERNET, ETHERNET_PERIPH])]
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fn idle(c: idle::Context) -> ! {
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let (MAC, DMA, MTL) = c.resources.ETHERNET_PERIPH;
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let hardware_addr = net::wire::EthernetAddress([0x10, 0xE2, 0xD5, 0x00, 0x03, 0x00]);
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unsafe { device.init(hardware_addr, &dp.ETHERNET_MAC, &dp.ETHERNET_DMA, &dp.ETHERNET_MTL) };
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unsafe { c.resources.ETHERNET.init(hardware_addr, MAC, DMA, MTL) };
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let mut neighbor_cache_storage = [None; 8];
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let neighbor_cache = net::iface::NeighborCache::new(&mut neighbor_cache_storage[..]);
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let local_addr = net::wire::IpAddress::v4(10, 0, 16, 99);
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let mut ip_addrs = [net::wire::IpCidr::new(local_addr, 24)];
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let mut iface = net::iface::EthernetInterfaceBuilder::new(device)
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let mut iface = net::iface::EthernetInterfaceBuilder::new(c.resources.ETHERNET)
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.ethernet_addr(hardware_addr)
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.neighbor_cache(neighbor_cache)
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.ip_addrs(&mut ip_addrs[..])
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@ -625,36 +637,56 @@ const APP: () = {
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create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle0);
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create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle1);
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unsafe { eth::enable_interrupt(&dp.ETHERNET_DMA); }
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tim2_setup(&dp.TIM2);
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c.schedule.tick(rtfm::Instant::now()).unwrap();
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init::LateResources {
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SPI: (spi1, spi2, spi4, spi5),
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// IFACE: iface,
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// SOCKETS: sockets,
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}
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}
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#[idle]
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fn idle(_: idle::Context) -> ! {
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// unsafe { eth::enable_interrupt(DMA); }
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let mut last = 0u32;
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let mut last_iter = rtfm::Instant::now();
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//let mut server = Server::new();
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loop {
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cortex_m::asm::wfi();
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// if ETHERNET_PENDING.swap(false, Ordering::Relaxed) { }
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let mut time = last;
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if rtfm::Instant::now() >= last_iter + 200_000.cycles() {
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last_iter += 200_000.cycles();
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time += 1;
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}
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{
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let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle0);
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if !(socket.is_open() || socket.is_listening()) {
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socket.listen(1234).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
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} else if time > last && socket.can_send() {
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last = time;
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//handle_status(socket, time);
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}
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}
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{
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let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle1);
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if !(socket.is_open() || socket.is_listening()) {
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socket.listen(1235).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
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} else {
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//server.handle_command(socket);
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}
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}
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if !match iface.poll(&mut sockets, net::time::Instant::from_millis(time as i64)) {
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Ok(changed) => changed,
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Err(net::Error::Unrecognized) => true,
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Err(e) => { info!("iface poll error: {:?}", e); true }
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} {
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// cortex_m::asm::wfi();
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}
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}
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}
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#[task(schedule = [tick])]
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fn tick(c: tick::Context) {
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// let now = rtfm::Instant::now();
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static mut TIME: u32 = 0;
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*TIME += 1;
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const PERIOD: u32 = 200_000_000;
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c.schedule.tick(c.scheduled + PERIOD.cycles()).unwrap();
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}
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// seems to slow it down
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// #[link_section = ".data.spi1"]
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#[interrupt(resources = [SPI, IIR_STATE, IIR_CH], priority = 1)]
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#[interrupt(resources = [SPI, IIR_STATE, IIR_CH], priority = 3)]
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fn SPI1(c: SPI1::Context) {
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#[cfg(feature = "bkpt")]
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cortex_m::asm::bkpt();
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@ -664,7 +696,7 @@ const APP: () = {
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let sr = spi1.sr.read();
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if sr.eot().bit_is_set() {
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spi1.ifcr.write(|w| w.eotc().set_bit());
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spi1.ifcr.write(|w| w.eotc().set_bit());
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}
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if sr.rxp().bit_is_set() {
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let rxdr = &spi1.rxdr as *const _ as *const u16;
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@ -678,7 +710,7 @@ const APP: () = {
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let sr = spi5.sr.read();
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if sr.eot().bit_is_set() {
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spi5.ifcr.write(|w| w.eotc().set_bit());
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spi5.ifcr.write(|w| w.eotc().set_bit());
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}
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if sr.rxp().bit_is_set() {
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let rxdr = &spi5.rxdr as *const _ as *const u16;
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@ -693,54 +725,24 @@ const APP: () = {
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cortex_m::asm::bkpt();
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}
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#[interrupt(resources = [], priority = 7)]
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fn ETH(_: ETH::Context) {
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let dma = unsafe { &stm32::Peripherals::steal().ETHERNET_DMA };
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/*
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#[interrupt(resources = [ETHERNET_PERIPH], priority = 1)]
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fn ETH(c: ETH::Context) {
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let dma = &c.resources.ETHERNET_PERIPH.1;
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ETHERNET_PENDING.store(true, Ordering::Relaxed);
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unsafe { eth::interrupt_handler(dma) }
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}
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*/
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extern "C" {
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// hw interrupt handlers for RTFM to use for scheduling tasks, one per priority
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// hw interrupt handlers for RTFM to use for scheduling tasks
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// one per priority
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fn DCMI();
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fn JPEG();
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fn SDMMC();
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}
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};
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/*
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let mut last = 0;
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let mut server = Server::new();
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loop {
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// if ETHERNET_PENDING.swap(false, Ordering::Relaxed) { }
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let time = TIME.load(Ordering::Relaxed);
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{
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let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle0);
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if !(socket.is_open() || socket.is_listening()) {
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socket.listen(1234).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
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} else if last != time && socket.can_send() {
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last = time;
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handle_status(socket, time);
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}
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}
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{
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let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle1);
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if !(socket.is_open() || socket.is_listening()) {
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socket.listen(1235).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
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} else {
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server.handle_command(socket);
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}
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}
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if !match iface.poll(&mut sockets, net::time::Instant::from_millis(time as i64)) {
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Ok(changed) => changed,
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Err(net::Error::Unrecognized) => true,
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Err(e) => { info!("iface poll error: {:?}", e); true }
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} {
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cortex_m::asm::wfi();
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}
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}
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#[derive(Deserialize,Serialize)]
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struct Request {
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channel: u8,
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@ -753,10 +755,13 @@ struct Response<'a> {
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message: &'a str,
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}
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fn reply<T: Serialize>(socket: &mut net::socket::TcpSocket, msg: &T) {
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let mut u: String<U128> = to_string(msg).unwrap();
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u.push('\n').unwrap();
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socket.write_str(&u).unwrap();
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#[derive(Serialize)]
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struct Status {
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t: u32,
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x0: f32,
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y0: f32,
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x1: f32,
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y1: f32
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}
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struct Server {
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@ -764,6 +769,12 @@ struct Server {
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discard: bool,
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}
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fn reply<T: Serialize>(socket: &mut net::socket::TcpSocket, msg: &T) {
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let mut u: String<U128> = to_string(msg).unwrap();
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u.push('\n').unwrap();
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socket.write_str(&u).unwrap();
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}
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impl Server {
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fn new() -> Self {
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Self { data: Vec::new(), discard: false }
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@ -796,9 +807,7 @@ impl Server {
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if request.channel > 1 {
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Response{ code: 530, message: "invalid channel" }
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} else {
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cortex_m::interrupt::free(|_| {
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unsafe { IIR_CH[request.channel as usize] = request.iir; };
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});
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//unsafe { IIR_CH[request.channel as usize] = request.iir; };
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Response{ code: 200, message: "ok" }
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}
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},
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@ -815,27 +824,18 @@ impl Server {
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}
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}
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fn handle_status(socket: &mut net::socket::TcpSocket, time: u32) {
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fn handle_status(socket: &mut net::socket::TcpSocket, time: u32,
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iir_state: &[IIRState]) {
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let s = unsafe { Status{
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t: time,
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x0: IIR_STATE[0][0],
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y0: IIR_STATE[0][2],
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x1: IIR_STATE[1][0],
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y1: IIR_STATE[1][2],
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x0: iir_state[0][0],
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y0: iir_state[0][2],
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x1: iir_state[1][0],
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y1: iir_state[1][2],
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}};
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reply(socket, &s);
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}
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#[derive(Serialize)]
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struct Status {
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t: u32,
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x0: f32,
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y0: f32,
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x1: f32,
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y1: f32
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}
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*/
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#[exception]
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fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
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panic!("HardFault at {:#?}", ef);
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