Adding prototype ethernet interface
parent
d7bdafeff2
commit
fa5b1aa152
|
|
@ -210,6 +210,7 @@ dependencies = [
|
|||
"as-slice 0.1.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"generic-array 0.13.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"hash32 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"serde 1.0.111 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"stable_deref_trait 1.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
|
|
|
|||
|
|
@ -33,7 +33,7 @@ log = "0.4"
|
|||
panic-semihosting = { version = "0.5", optional = true }
|
||||
panic-halt = "0.2"
|
||||
serde = { version = "1.0", features = ["derive"], default-features = false }
|
||||
heapless = "0.5.4"
|
||||
heapless = { version = "0.5.4", features = ["serde"] }
|
||||
serde-json-core = "0.1"
|
||||
cortex-m-rtfm = "0.5"
|
||||
embedded-hal = "0.2.3"
|
||||
|
|
|
|||
71
src/main.rs
71
src/main.rs
|
|
@ -39,7 +39,6 @@ use stm32h7xx_hal::{
|
|||
prelude::*,
|
||||
stm32 as pac,
|
||||
};
|
||||
use pounder::Error;
|
||||
|
||||
use heapless::{
|
||||
String,
|
||||
|
|
@ -109,16 +108,16 @@ const SCALE: f32 = ((1 << 15) - 1) as f32;
|
|||
const TCP_RX_BUFFER_SIZE: usize = 8192;
|
||||
const TCP_TX_BUFFER_SIZE: usize = 8192;
|
||||
|
||||
type AFE1 = afe::ProgrammableGainAmplifier<
|
||||
type AFE0 = afe::ProgrammableGainAmplifier<
|
||||
hal::gpio::gpiof::PF2<hal::gpio::Output<hal::gpio::PushPull>>,
|
||||
hal::gpio::gpiof::PF5<hal::gpio::Output<hal::gpio::PushPull>>>;
|
||||
|
||||
type AFE2 = afe::ProgrammableGainAmplifier<
|
||||
type AFE1 = afe::ProgrammableGainAmplifier<
|
||||
hal::gpio::gpiod::PD14<hal::gpio::Output<hal::gpio::PushPull>>,
|
||||
hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>>;
|
||||
|
||||
macro_rules! route_request {
|
||||
($request:ident, $buffer:ident,
|
||||
($request:ident,
|
||||
readable_attributes: [$(($read_attribute:tt, $getter:tt)),*],
|
||||
modifiable_attributes: [$(($write_attribute:tt, $TYPE:ty, $setter:tt)),*]) => {
|
||||
match $request {
|
||||
|
|
@ -132,13 +131,13 @@ macro_rules! route_request {
|
|||
"Failed to set attribute"),
|
||||
};
|
||||
|
||||
$buffer = match serde_json_core::to_string(&value) {
|
||||
let encoded_data: String<U128> = match serde_json_core::to_string(&value) {
|
||||
Ok(data) => data,
|
||||
Err(_) => return server::Response::error(attribute,
|
||||
"Failed to encode attribute value"),
|
||||
};
|
||||
|
||||
server::Response::success(attribute, &$buffer)
|
||||
server::Response::success(attribute, &encoded_data)
|
||||
},
|
||||
)*
|
||||
_ => server::Response::error(attribute, "Unknown attribute")
|
||||
|
|
@ -172,13 +171,13 @@ macro_rules! route_request {
|
|||
#[rtfm::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtfm::cyccnt::CYCCNT)]
|
||||
const APP: () = {
|
||||
struct Resources {
|
||||
adc1: hal::spi::Spi<hal::stm32::SPI2>,
|
||||
dac1: hal::spi::Spi<hal::stm32::SPI4>,
|
||||
afe1: AFE1,
|
||||
adc0: hal::spi::Spi<hal::stm32::SPI2>,
|
||||
dac0: hal::spi::Spi<hal::stm32::SPI4>,
|
||||
afe0: AFE0,
|
||||
|
||||
adc2: hal::spi::Spi<hal::stm32::SPI3>,
|
||||
dac2: hal::spi::Spi<hal::stm32::SPI5>,
|
||||
_afe2: AFE2,
|
||||
adc1: hal::spi::Spi<hal::stm32::SPI3>,
|
||||
dac1: hal::spi::Spi<hal::stm32::SPI5>,
|
||||
afe1: AFE1,
|
||||
|
||||
eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>,
|
||||
|
||||
|
|
@ -234,20 +233,20 @@ const APP: () = {
|
|||
let gpiof = dp.GPIOF.split(&mut clocks.ahb4);
|
||||
let gpiog = dp.GPIOG.split(&mut clocks.ahb4);
|
||||
|
||||
let afe1 = {
|
||||
let afe0 = {
|
||||
let a0_pin = gpiof.pf2.into_push_pull_output();
|
||||
let a1_pin = gpiof.pf5.into_push_pull_output();
|
||||
afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
|
||||
};
|
||||
|
||||
let afe2 = {
|
||||
let afe1 = {
|
||||
let a0_pin = gpiod.pd14.into_push_pull_output();
|
||||
let a1_pin = gpiod.pd15.into_push_pull_output();
|
||||
afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
|
||||
};
|
||||
|
||||
// Configure the SPI interfaces to the ADCs and DACs.
|
||||
let adc1_spi = {
|
||||
let adc0_spi = {
|
||||
let spi_miso = gpiob.pb14.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpiob.pb10.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpiob.pb9.into_alternate_af5();
|
||||
|
|
@ -272,7 +271,7 @@ const APP: () = {
|
|||
spi
|
||||
};
|
||||
|
||||
let adc2_spi = {
|
||||
let adc1_spi = {
|
||||
let spi_miso = gpiob.pb4.into_alternate_af6().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpioc.pc10.into_alternate_af6().set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpioa.pa15.into_alternate_af6();
|
||||
|
|
@ -296,7 +295,7 @@ const APP: () = {
|
|||
spi
|
||||
};
|
||||
|
||||
let dac1_spi = {
|
||||
let dac0_spi = {
|
||||
let spi_miso = gpioe.pe5.into_alternate_af5();
|
||||
let spi_sck = gpioe.pe2.into_alternate_af5();
|
||||
let _spi_nss = gpioe.pe4.into_alternate_af5();
|
||||
|
|
@ -313,7 +312,7 @@ const APP: () = {
|
|||
dp.SPI4.spi((spi_sck, spi_miso, hal::spi::NoMosi), config, 25.mhz(), &clocks)
|
||||
};
|
||||
|
||||
let dac2_spi = {
|
||||
let dac1_spi = {
|
||||
let spi_miso = gpiof.pf8.into_alternate_af5();
|
||||
let spi_sck = gpiof.pf7.into_alternate_af5();
|
||||
let _spi_nss = gpiof.pf6.into_alternate_af5();
|
||||
|
|
@ -500,12 +499,12 @@ const APP: () = {
|
|||
timer2.listen(hal::timer::Event::TimeOut);
|
||||
|
||||
init::LateResources {
|
||||
adc0: adc0_spi,
|
||||
dac0: dac0_spi,
|
||||
adc1: adc1_spi,
|
||||
dac1: dac1_spi,
|
||||
adc2: adc2_spi,
|
||||
dac2: dac2_spi,
|
||||
afe0: afe0,
|
||||
afe1: afe1,
|
||||
_afe2: afe2,
|
||||
|
||||
dbg_pin: debug_pin,
|
||||
dac_pin: dac_pin,
|
||||
|
|
@ -519,19 +518,19 @@ const APP: () = {
|
|||
}
|
||||
}
|
||||
|
||||
#[task(binds = TIM2, resources = [dbg_pin, timer, adc1, adc2])]
|
||||
#[task(binds = TIM2, resources = [dbg_pin, timer, adc0, adc1])]
|
||||
fn tim2(mut c: tim2::Context) {
|
||||
c.resources.timer.clear_uif_bit();
|
||||
c.resources.dbg_pin.set_high().unwrap();
|
||||
|
||||
// Start a SPI transaction on ADC0 and ADC1
|
||||
c.resources.adc0.lock(|adc| adc.spi.cr1.modify(|_, w| w.cstart().set_bit()));
|
||||
c.resources.adc1.lock(|adc| adc.spi.cr1.modify(|_, w| w.cstart().set_bit()));
|
||||
c.resources.adc2.lock(|adc| adc.spi.cr1.modify(|_, w| w.cstart().set_bit()));
|
||||
|
||||
c.resources.dbg_pin.set_low().unwrap();
|
||||
}
|
||||
|
||||
#[task(binds = SPI2, resources = [adc1, dac1, adc2, dac2, iir_state, iir_ch, dac_pin], priority = 2)]
|
||||
#[task(binds = SPI2, resources = [adc0, dac0, adc1, dac1, iir_state, iir_ch, dac_pin], priority = 2)]
|
||||
fn adc_spi(c: adc_spi::Context) {
|
||||
#[cfg(feature = "bkpt")]
|
||||
cortex_m::asm::bkpt();
|
||||
|
|
@ -539,30 +538,30 @@ const APP: () = {
|
|||
c.resources.dac_pin.set_high().unwrap();
|
||||
|
||||
let output_ch1 = {
|
||||
let a: u16 = c.resources.adc1.read().unwrap();
|
||||
let a: u16 = c.resources.adc0.read().unwrap();
|
||||
let x0 = f32::from(a as i16);
|
||||
let y0 = c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0);
|
||||
y0 as i16 as u16 ^ 0x8000
|
||||
};
|
||||
c.resources.adc1.spi.ifcr.write(|w| w.eotc().set_bit());
|
||||
c.resources.adc0.spi.ifcr.write(|w| w.eotc().set_bit());
|
||||
|
||||
let output_ch2 = {
|
||||
let a: u16 = nb::block!(c.resources.adc2.read()).unwrap();
|
||||
let a: u16 = nb::block!(c.resources.adc1.read()).unwrap();
|
||||
let x0 = f32::from(a as i16);
|
||||
let y0 = c.resources.iir_ch[1].update(&mut c.resources.iir_state[1], x0);
|
||||
y0 as i16 as u16 ^ 0x8000
|
||||
};
|
||||
c.resources.adc2.spi.ifcr.write(|w| w.eotc().set_bit());
|
||||
c.resources.adc1.spi.ifcr.write(|w| w.eotc().set_bit());
|
||||
|
||||
c.resources.dac1.send(output_ch1).unwrap();
|
||||
c.resources.dac2.send(output_ch2).unwrap();
|
||||
c.resources.dac0.send(output_ch1).unwrap();
|
||||
c.resources.dac1.send(output_ch2).unwrap();
|
||||
|
||||
c.resources.dac_pin.set_low().unwrap();
|
||||
#[cfg(feature = "bkpt")]
|
||||
cortex_m::asm::bkpt();
|
||||
}
|
||||
|
||||
#[idle(resources=[net_interface, mac_addr, iir_state, iir_ch, afe1])]
|
||||
#[idle(resources=[net_interface, mac_addr, iir_state, iir_ch, afe0, afe1])]
|
||||
fn idle(mut c: idle::Context) -> ! {
|
||||
|
||||
let mut socket_set_entries: [_; 8] = Default::default();
|
||||
|
|
@ -594,8 +593,6 @@ const APP: () = {
|
|||
// TODO: Replace with reference to CPU clock from CCDR.
|
||||
next_ms += 400_000.cycles();
|
||||
|
||||
let buffer: String<U512> = String::new();
|
||||
|
||||
loop {
|
||||
let tick = Instant::now() > next_ms;
|
||||
|
||||
|
|
@ -636,12 +633,14 @@ const APP: () = {
|
|||
} else {
|
||||
server.poll(socket, |req| {
|
||||
info!("Got request: {:?}", req);
|
||||
route_request!(req, buffer,
|
||||
route_request!(req,
|
||||
readable_attributes: [
|
||||
("stabilizer/afe0/gain", (|| Ok::<afe::Gain, ()>(c.resources.afe1.get_gain())))
|
||||
("stabilizer/afe0/gain", (|| Ok::<afe::Gain, ()>(c.resources.afe0.get_gain()))),
|
||||
("stabilizer/afe1/gain", (|| Ok::<afe::Gain, ()>(c.resources.afe1.get_gain())))
|
||||
],
|
||||
modifiable_attributes: [
|
||||
("stabilizer/afe0/gain", afe::Gain, (|gain| Ok::<(), ()>(c.resources.afe1.set_gain(gain))))
|
||||
("stabilizer/afe0/gain", afe::Gain, (|gain| Ok::<(), ()>(c.resources.afe0.set_gain(gain)))),
|
||||
("stabilizer/afe1/gain", afe::Gain, (|gain| Ok::<(), ()>(c.resources.afe1.set_gain(gain))))
|
||||
]
|
||||
)
|
||||
});
|
||||
|
|
|
|||
|
|
@ -26,34 +26,26 @@ pub enum Request<'a, 'b> {
|
|||
}
|
||||
|
||||
#[derive(Serialize)]
|
||||
pub struct Response<'a, 'b> {
|
||||
pub struct Response {
|
||||
code: i32,
|
||||
attribute: &'a str,
|
||||
value: &'b str,
|
||||
attribute: String<U128>,
|
||||
value: String<U128>,
|
||||
}
|
||||
|
||||
impl<'a, 'b> Response<'a, 'b> {
|
||||
pub fn success<'c, 'd>(attribute: &'c str, value: &'d str) -> Self
|
||||
where
|
||||
'c: 'a,
|
||||
'd: 'b,
|
||||
impl Response {
|
||||
pub fn success<'a, 'b>(attribute: &'a str, value: &'b str) -> Self
|
||||
{
|
||||
Self { code: 200, attribute: attribute, value: value}
|
||||
Self { code: 200, attribute: String::from(attribute), value: String::from(value)}
|
||||
}
|
||||
|
||||
pub fn error<'c, 'd>(attribute: &'c str, message: &'d str) -> Self
|
||||
where
|
||||
'c: 'a,
|
||||
'd: 'b,
|
||||
pub fn error<'a, 'b>(attribute: &'a str, message: &'b str) -> Self
|
||||
{
|
||||
Self { code: 400, attribute: attribute, value: message}
|
||||
Self { code: 400, attribute: String::from(attribute), value: String::from(message)}
|
||||
}
|
||||
|
||||
pub fn custom<'c>(code: i32, message : &'c str) -> Self
|
||||
where
|
||||
'c: 'b,
|
||||
pub fn custom<'a>(code: i32, message : &'a str) -> Self
|
||||
{
|
||||
Self { code: code, attribute: "", value: message}
|
||||
Self { code: code, attribute: String::from(""), value: String::from(message)}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -85,13 +77,13 @@ impl Server {
|
|||
}
|
||||
}
|
||||
|
||||
pub fn poll<'a, 'b, F>(
|
||||
pub fn poll<F>(
|
||||
&mut self,
|
||||
socket: &mut net::socket::TcpSocket,
|
||||
f: F,
|
||||
mut f: F,
|
||||
)
|
||||
where
|
||||
F: FnOnce(&Request) -> Response<'a, 'b>
|
||||
F: FnMut(&Request) -> Response
|
||||
{
|
||||
while socket.can_recv() {
|
||||
let found = socket.recv(|buf| {
|
||||
|
|
@ -112,25 +104,21 @@ impl Server {
|
|||
if found {
|
||||
if self.discard {
|
||||
self.discard = false;
|
||||
json_reply(socket, &Response::custom(520, "command buffer overflow"),
|
||||
);
|
||||
self.data.clear();
|
||||
json_reply(socket, &Response::custom(520, "command buffer overflow"));
|
||||
} else {
|
||||
let r = from_slice::<Request>(&self.data[..self.data.len() - 1]);
|
||||
self.data.clear();
|
||||
match r {
|
||||
Ok(res) => {
|
||||
let response = f(&res);
|
||||
json_reply(socket, &response);
|
||||
return;
|
||||
},
|
||||
Err(err) => {
|
||||
warn!("parse error {:?}", err);
|
||||
json_reply(socket, &Response::custom(550, "parse error"),
|
||||
);
|
||||
json_reply(socket, &Response::custom(550, "parse error"));
|
||||
}
|
||||
}
|
||||
}
|
||||
self.data.clear();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue