Merge branch 'master' into update-hal

Cargo.lock

@@ -203,7 +203,7 @@ dependencies = [
 [[package]]
 name = "derive_miniconf"
 version = "0.1.0"
-source = "git+https://github.com/quartiq/miniconf.git?branch=develop#394d0634a9622e43a55850afc34eb4695ecababa"
+source = "git+https://github.com/quartiq/miniconf.git?branch=develop#314fa5587d1aa28e1ad70106f19e30db646e9f28"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -343,7 +343,6 @@ dependencies = [
  "as-slice",
  "generic-array 0.13.3",
  "hash32",
- "serde",
  "stable_deref_trait",
 ]
 
@@ -356,6 +355,7 @@ dependencies = [
  "as-slice",
  "generic-array 0.14.4",
  "hash32",
+ "serde",
  "stable_deref_trait",
 ]
 
@@ -392,9 +392,9 @@ dependencies = [
 
 [[package]]
 name = "managed"
-version = "0.7.2"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c75de51135344a4f8ed3cfe2720dc27736f7711989703a0b43aadf3753c55577"
+checksum = "0ca88d725a0a943b096803bd34e73a4437208b6077654cc4ecb2947a5f91618d"
 
 [[package]]
 name = "matrixmultiply"
@@ -416,10 +416,10 @@ dependencies = [
 [[package]]
 name = "miniconf"
 version = "0.1.0"
-source = "git+https://github.com/quartiq/miniconf.git?branch=develop#394d0634a9622e43a55850afc34eb4695ecababa"
+source = "git+https://github.com/quartiq/miniconf.git?branch=develop#314fa5587d1aa28e1ad70106f19e30db646e9f28"
 dependencies = [
  "derive_miniconf",
- "heapless 0.5.6",
+ "heapless 0.6.1",
  "minimq",
  "serde",
  "serde-json-core",
@@ -428,13 +428,13 @@ dependencies = [
 [[package]]
 name = "minimq"
 version = "0.2.0"
-source = "git+https://github.com/quartiq/minimq.git?branch=master#a89a6f11d0d1f63114fb15f676022eb4fe904f56"
+source = "git+https://github.com/quartiq/minimq.git#933687c2e4bc8a4d972de9a4d1508b0b554a8b38"
 dependencies = [
  "bit_field",
  "embedded-nal",
  "enum-iterator",
  "generic-array 0.14.4",
- "heapless 0.5.6",
+ "heapless 0.6.1",
 ]
 
 [[package]]
@@ -459,7 +459,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6c0d5c9540a691d153064dc47a4db2504587a75eae07bf1d73f7a596ebc73c04"
 dependencies = [
  "matrixmultiply",
- "num-complex",
+ "num-complex 0.3.1",
  "num-integer",
  "num-traits",
  "rawpointer",
@@ -473,11 +473,11 @@ checksum = "2178127478ae4ee9be7180bc9c3bffb6354dd7238400db567102f98c413a9f35"
 
 [[package]]
 name = "num"
-version = "0.3.1"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b7a8e9be5e039e2ff869df49155f1c06bd01ade2117ec783e56ab0932b67a8f"
+checksum = "43db66d1170d347f9a065114077f7dccb00c1b9478c89384490a3425279a4606"
 dependencies = [
- "num-complex",
+ "num-complex 0.4.0",
  "num-integer",
  "num-iter",
  "num-rational",
@@ -493,6 +493,15 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "num-complex"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26873667bbbb7c5182d4a37c1add32cdf09f841af72da53318fdb81543c15085"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "num-integer"
 version = "0.1.44"
@@ -516,9 +525,9 @@ dependencies = [
 
 [[package]]
 name = "num-rational"
-version = "0.3.2"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12ac428b1cb17fce6f731001d307d351ec70a6d202fc2e60f7d4c5e42d8f4f07"
+checksum = "d41702bd167c2df5520b384281bc111a4b5efcf7fbc4c9c222c815b07e0a6a6a"
 dependencies = [
  "autocfg",
  "num-integer",
@@ -546,9 +555,9 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.4"
+version = "1.0.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c5d65c4d95931acda4498f675e332fcbdc9a06705cd07086c510e9b6009cd1c1"
+checksum = "acbf547ad0c65e31259204bd90935776d1c693cec2f4ff7abb7a1bbbd40dfe58"
 
 [[package]]
 name = "ppv-lite86"
@@ -669,9 +678,9 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
 name = "serde"
-version = "1.0.123"
+version = "1.0.124"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92d5161132722baa40d802cc70b15262b98258453e85e5d1d365c757c73869ae"
+checksum = "bd761ff957cb2a45fbb9ab3da6512de9de55872866160b23c25f1a841e99d29f"
 dependencies = [
  "serde_derive",
 ]
@@ -687,9 +696,9 @@ dependencies = [
 
 [[package]]
 name = "serde_derive"
-version = "1.0.123"
+version = "1.0.124"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9391c295d64fc0abb2c556bad848f33cb8296276b1ad2677d1ae1ace4f258f31"
+checksum = "1800f7693e94e186f5e25a28291ae1570da908aff7d97a095dec1e56ff99069b"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -699,8 +708,7 @@ dependencies = [
 [[package]]
 name = "smoltcp"
 version = "0.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/smoltcp-rs/smoltcp.git#43567b9743cb9f422de83fad9ff42a6d13f6e5ee"
-checksum = "ab527c390c7e107f687bd92a886a083fde61b8cdc700b37f3d7e4346ffd8fae1"
 dependencies = [
  "bitflags",
  "byteorder",
@@ -710,11 +718,10 @@ dependencies = [
 [[package]]
 name = "smoltcp-nal"
 version = "0.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/quartiq/smoltcp-nal.git?branch=main#56519012d7c6a382eaa0d7ecb26f2701771d9ce8"
-checksum = "e4e5aeb4818706fd74c35917692008d29a5314483c8180300a582253718ce57a"
 dependencies = [
  "embedded-nal",
- "heapless 0.5.6",
+ "heapless 0.6.1",
  "smoltcp",
 ]
 
@@ -732,7 +739,7 @@ dependencies = [
  "embedded-hal",
  "enum-iterator",
  "generic-array 0.14.4",
- "heapless 0.5.6",
+ "heapless 0.6.1",
  "log",
  "mcp23017",
  "miniconf",

Cargo.toml

@@ -34,7 +34,7 @@ cortex-m-log = { version = "0.7", features = ["log-integration"] }
 log = "0.4"
 panic-semihosting = { version = "0.5", optional = true }
 serde = { version = "1.0", features = ["derive"], default-features = false }
-heapless = { version = "0.5", features = ["serde"] }
+heapless = { version = "0.6", features = ["serde"] }
 cortex-m-rtic = "0.5.6"
 embedded-hal = "0.2.4"
 nb = "1.0.0"
@@ -53,12 +53,20 @@ branch = "develop"
 
 [patch.crates-io.minimq]
 git = "https://github.com/quartiq/minimq.git"
-branch = "master"
+
+[patch.crates-io.smoltcp-nal]
+git = "https://github.com/quartiq/smoltcp-nal.git"
+branch = "main"
 
 [patch.crates-io.serde-json-core]
 git = "https://github.com/rust-embedded-community/serde-json-core.git"
 branch = "master"
 
+[patch.crates-io.smoltcp]
+# We manually patch smoltcp so that we can get access to unreleased updates to the DHCP server. When
+# a new release of smoltcp is made, we can remove this patch.
+git = "https://github.com/smoltcp-rs/smoltcp.git"
+
 [dependencies.mcp23017]
 git = "https://github.com/mrd0ll4r/mcp23017.git"
 

README.md

@@ -1,4 +1,5 @@
 [![QUARTIQ Matrix Chat](https://img.shields.io/matrix/quartiq:matrix.org)](https://matrix.to/#/#quartiq:matrix.org)
+[![Continuous Integration](https://github.com/quartiq/stabilizer/actions/workflows/ci.yml/badge.svg)](https://github.com/quartiq/stabilizer/actions/workflows/ci.yml)
 [![HITL (private)](https://github.com/quartiq/hitl/workflows/Stabilizer/badge.svg)](https://github.com/quartiq/hitl/actions?query=workflow%3AStabilizer)
 
 # Stabilizer Firmware

cargosha256-dual-iir.nix

@@ -1 +1 @@
-"138kpxzxs73zhmd4xi5kw3fddb05gac4mpngizm01831n1ycyhl0"
+"06qsl59bljr637xcrplbij7ma8l7waryi4lkbd4fxjac0gqpn55s"

dsp/Cargo.toml

@@ -8,7 +8,7 @@ edition = "2018"
 libm = "0.2.1"
 serde = { version = "1.0", features = ["derive"], default-features = false }
 generic-array = "0.14"
-num = { version = "0.3.1", default-features = false }
+num = { version = "0.4.0", default-features = false }
 miniconf = "0.1"
 
 [dev-dependencies]

src/bin/dual-iir.rs

@@ -144,16 +144,31 @@ const APP: () = {
 
         loop {
             let sleep = c.resources.mqtt_interface.lock(|interface| {
-                !interface.network_stack().poll(clock.current_ms())
+                match interface.network_stack().poll(clock.current_ms()) {
+                    Ok(updated) => !updated,
+                    Err(err) => {
+                        log::info!("Network error: {:?}", err);
+                        false
+                    }
+                }
             });
 
-            if c.resources
+            match c
+                .resources
                 .mqtt_interface
-                .lock(|interface| interface.update().unwrap())
+                .lock(|interface| interface.update())
             {
-                c.spawn.settings_update().unwrap()
+                Ok(update) => {
-            } else if sleep {
+                    if update {
-                cortex_m::asm::wfi();
+                        c.spawn.settings_update().unwrap();
+                    } else if sleep {
+                        cortex_m::asm::wfi();
+                    }
+                }
+                Err(miniconf::MqttError::Network(
+                    smoltcp_nal::NetworkError::NoIpAddress,
+                )) => {}
+                Err(error) => log::info!("Unexpected error: {:?}", error),
             }
         }
     }

src/bin/lockin-external.rs

@@ -208,16 +208,31 @@ const APP: () = {
 
         loop {
             let sleep = c.resources.mqtt_interface.lock(|interface| {
-                !interface.network_stack().poll(clock.current_ms())
+                match interface.network_stack().poll(clock.current_ms()) {
+                    Ok(updated) => !updated,
+                    Err(err) => {
+                        log::info!("Network error: {:?}", err);
+                        false
+                    }
+                }
             });
 
-            if c.resources
+            match c
+                .resources
                 .mqtt_interface
-                .lock(|interface| interface.update().unwrap())
+                .lock(|interface| interface.update())
             {
-                c.spawn.settings_update().unwrap()
+                Ok(update) => {
-            } else if sleep {
+                    if update {
-                cortex_m::asm::wfi();
+                        c.spawn.settings_update().unwrap();
+                    } else if sleep {
+                        cortex_m::asm::wfi();
+                    }
+                }
+                Err(miniconf::MqttError::Network(
+                    smoltcp_nal::NetworkError::NoIpAddress,
+                )) => {}
+                Err(error) => log::info!("Unexpected error: {:?}", error),
             }
         }
     }

src/hardware/configuration.rs

@@ -19,13 +19,38 @@ use super::{
 
 pub struct NetStorage {
     pub ip_addrs: [smoltcp::wire::IpCidr; 1],
-    pub sockets: [Option<smoltcp::socket::SocketSetItem<'static>>; 1],
+    pub sockets: [Option<smoltcp::socket::SocketSetItem<'static>>; 2],
     pub neighbor_cache:
         [Option<(smoltcp::wire::IpAddress, smoltcp::iface::Neighbor)>; 8],
     pub routes_cache:
         [Option<(smoltcp::wire::IpCidr, smoltcp::iface::Route)>; 8],
     pub tx_storage: [u8; 4096],
     pub rx_storage: [u8; 4096],
+
+    pub dhcp_rx_metadata: [smoltcp::socket::RawPacketMetadata; 1],
+    pub dhcp_tx_metadata: [smoltcp::socket::RawPacketMetadata; 1],
+    pub dhcp_tx_storage: [u8; 600],
+    pub dhcp_rx_storage: [u8; 600],
+}
+
+impl NetStorage {
+    pub fn new() -> Self {
+        NetStorage {
+            // Placeholder for the real IP address, which is initialized at runtime.
+            ip_addrs: [smoltcp::wire::IpCidr::Ipv6(
+                smoltcp::wire::Ipv6Cidr::SOLICITED_NODE_PREFIX,
+            )],
+            neighbor_cache: [None; 8],
+            routes_cache: [None; 8],
+            sockets: [None, None],
+            tx_storage: [0; 4096],
+            rx_storage: [0; 4096],
+            dhcp_tx_storage: [0; 600],
+            dhcp_rx_storage: [0; 600],
+            dhcp_rx_metadata: [smoltcp::socket::RawPacketMetadata::EMPTY; 1],
+            dhcp_tx_metadata: [smoltcp::socket::RawPacketMetadata::EMPTY; 1],
+        }
+    }
 }
 
 /// The available networking devices on Stabilizer.
@@ -59,22 +84,6 @@ pub struct PounderDevices {
 /// Static storage for the ethernet DMA descriptor ring.
 static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
 
-/// Static, global-scope network storage for the ethernet interface.
-///
-/// This is a static singleton so that the network storage can be referenced from all contexts.
-static mut NET_STORE: NetStorage = NetStorage {
-    // Placeholder for the real IP address, which is initialized at runtime.
-    ip_addrs: [smoltcp::wire::IpCidr::Ipv6(
-        smoltcp::wire::Ipv6Cidr::SOLICITED_NODE_PREFIX,
-    )],
-    neighbor_cache: [None; 8],
-    routes_cache: [None; 8],
-    sockets: [None; 1],
-
-    tx_storage: [0; 4096],
-    rx_storage: [0; 4096],
-};
-
 /// Configure the stabilizer hardware for operation.
 ///
 /// # Args
@@ -516,17 +525,23 @@ pub fn setup(
 
         unsafe { ethernet::enable_interrupt() };
 
-        let store = unsafe { &mut NET_STORE };
+        // Note(unwrap): The hardware configuration function is only allowed to be called once.
+        // Unwrapping is intended to panic if called again to prevent re-use of global memory.
+        let store =
+            cortex_m::singleton!(: NetStorage = NetStorage::new()).unwrap();
 
         store.ip_addrs[0] = smoltcp::wire::IpCidr::new(
-            smoltcp::wire::IpAddress::v4(10, 34, 16, 103),
+            smoltcp::wire::IpAddress::Ipv4(
-            24,
+                smoltcp::wire::Ipv4Address::UNSPECIFIED,
+            ),
+            0,
         );
 
-        let default_v4_gw = smoltcp::wire::Ipv4Address::new(10, 34, 16, 1);
         let mut routes =
             smoltcp::iface::Routes::new(&mut store.routes_cache[..]);
-        routes.add_default_ipv4_route(default_v4_gw).unwrap();
+        routes
+            .add_default_ipv4_route(smoltcp::wire::Ipv4Address::UNSPECIFIED)
+            .unwrap();
 
         let neighbor_cache =
             smoltcp::iface::NeighborCache::new(&mut store.neighbor_cache[..]);
@@ -538,36 +553,54 @@ pub fn setup(
             .routes(routes)
             .finalize();
 
-        let sockets = {
+        let (mut sockets, handles) = {
-            // Note(unsafe): Configuration is only called once, so we only access the global
+            let mut sockets =
-            // storage a single time.
+                smoltcp::socket::SocketSet::new(&mut store.sockets[..]);
-            let socket_storage = unsafe { &mut NET_STORE.sockets[..] };
-            let mut sockets = smoltcp::socket::SocketSet::new(socket_storage);
 
             let tcp_socket = {
-                let rx_buffer = {
+                let rx_buffer = smoltcp::socket::TcpSocketBuffer::new(
-                    // Note(unsafe): Configuration is only called once, so we only access the global
+                    &mut store.rx_storage[..],
-                    // storage a single time.
+                );
-                    let storage = unsafe { &mut NET_STORE.rx_storage[..] };
+                let tx_buffer = smoltcp::socket::TcpSocketBuffer::new(
-                    smoltcp::socket::TcpSocketBuffer::new(storage)
+                    &mut store.tx_storage[..],
-                };
+                );
-
-                let tx_buffer = {
-                    // Note(unsafe): Configuration is only called once, so we only access the global
-                    // storage a single time.
-                    let storage = unsafe { &mut NET_STORE.tx_storage[..] };
-                    smoltcp::socket::TcpSocketBuffer::new(storage)
-                };
 
                 smoltcp::socket::TcpSocket::new(rx_buffer, tx_buffer)
             };
 
-            sockets.add(tcp_socket);
+            let handle = sockets.add(tcp_socket);
-            sockets
+            (sockets, [handle])
+        };
+
+        let dhcp_client = {
+            let dhcp_rx_buffer = smoltcp::socket::RawSocketBuffer::new(
+                &mut store.dhcp_rx_metadata[..],
+                &mut store.dhcp_rx_storage[..],
+            );
+
+            let dhcp_tx_buffer = smoltcp::socket::RawSocketBuffer::new(
+                &mut store.dhcp_tx_metadata[..],
+                &mut store.dhcp_tx_storage[..],
+            );
+
+            smoltcp::dhcp::Dhcpv4Client::new(
+                &mut sockets,
+                dhcp_rx_buffer,
+                dhcp_tx_buffer,
+                // Smoltcp indicates that an instant with a negative time is indicative that time is
+                // not yet available. We can't get the current instant yet, so indicate an invalid
+                // time value.
+                smoltcp::time::Instant::from_millis(-1),
+            )
         };
 
         NetworkDevices {
-            stack: smoltcp_nal::NetworkStack::new(interface, sockets),
+            stack: smoltcp_nal::NetworkStack::new(
+                interface,
+                sockets,
+                &handles,
+                Some(dhcp_client),
+            ),
             phy: lan8742a,
         }
     };
@@ -825,6 +858,14 @@ pub fn setup(
         None
     };
 
+    let cycle_counter = {
+        // Set TRCENA bit, which is required for DWT counter to tick. (This is also
+        // set automatically when running in the debugger, and only cleared on power
+        // reset, not on soft reset.)
+        core.DCB.enable_trace();
+        CycleCounter::new(core.DWT, ccdr.clocks.c_ck())
+    };
+
     let stabilizer = StabilizerDevices {
         afes,
         adcs,
@@ -833,7 +874,7 @@ pub fn setup(
         net: network_devices,
         adc_dac_timer: sampling_timer,
         timestamp_timer,
-        cycle_counter: CycleCounter::new(core.DWT, ccdr.clocks.c_ck()),
+        cycle_counter,
     };
 
     // info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());