kirdy-firmware/src/main.rs

#![cfg_attr(not(test), no_main)]
#![cfg_attr(not(test), no_std)]

use cortex_m_rt::entry;
use log::{info, debug};
use stm32f4xx_hal::pac::{CorePeripherals, Peripherals};
mod device;
mod laser_diode;
mod thermostat;
mod net;

use core::ptr::addr_of_mut;
use device::{boot::bootup, log_setup, sys_timer};
use crate::net::net::IpSettings;
use serde::{Deserialize, Serialize};
use stm32f4xx_hal::pac::SCB;

// If RTT is used, print panic info through RTT
#[cfg(all(feature = "RTT", not(test)))]
use {core::panic::PanicInfo, rtt_target::rprintln};
#[cfg(all(feature = "RTT", not(test)))]
#[panic_handler]
fn panic(info: &PanicInfo) -> ! {
    rprintln!("{}", info);
    loop {}
}
// Otherwise use panic halt
#[cfg(all(not(feature = "RTT"), not(test)))]
use panic_halt as _;

static mut ETH_DATA_BUFFER: [u8; 1024] = [0; 1024];

#[derive(Deserialize, Serialize, Clone, Copy, Debug)]
pub struct DeviceSettings{
    ip_settings: IpSettings,
}

const CONFIG_KEY: [&str; 3] = ["Device", "Laser_0", "Thermostat_0"];

#[derive(Default)]
pub enum State {
    #[default]
    LoadFlashSettings,
    MainLoop,
    SaveFlashSettings,
    PrepareForHardReset,
    HardReset,
}

#[cfg(not(test))]
#[entry]
fn main() -> ! {
    log_setup::init_log();
    info!("Kirdy init");

    let core_perif = CorePeripherals::take().unwrap();
    let perif = Peripherals::take().unwrap();

    let (mut wd, mut flash_store, mut laser, mut thermostat,) = bootup(core_perif, perif);

    let mut device_settings = DeviceSettings {
        ip_settings: IpSettings::default()
    };

    let mut active_report: [bool; net::net::NUM_OF_SOCKETS] = [false; net::net::NUM_OF_SOCKETS];

    let mut state = State::default();

    let eth_data_buffer =  unsafe { addr_of_mut!(ETH_DATA_BUFFER).as_mut().unwrap()};
    
    loop {
        wd.feed();

        net::net::eth_poll_and_update_link_speed();

        match state {
            State::LoadFlashSettings => {
                // State Transition
                state = State::MainLoop;

                wd.feed();
                let device_settings_flash: DeviceSettings;
                match flash_store.read_value(CONFIG_KEY[0]) {
                    Ok(Some(config)) => {
                        device_settings_flash = config;
                        debug!("Found Device Settings");
                    }
                    Ok(None) => {
                        debug!("Flash does not have Device Settings");
                        continue;
                    }
                    Err(e) => {
                        debug!("Cannot Store Flash: {:?}", e);
                        continue;
                    }
                }
                
                wd.feed();
                let laser_settings: laser_diode::laser_diode::LdSettingsSummary;
                match flash_store.read_value(CONFIG_KEY[1]) {
                    Ok(Some(config)) => {
                        laser_settings = config;
                        debug!("Found Laser Diode Settings");
                    }
                    Ok(None) => {
                        debug!("Does not have laser diode Settings");
                        continue;
                    }
                    Err(e) => {
                        debug!("Cannot Store Flash: {:?}", e);
                        continue;
                    }
                }

                wd.feed();
                let thermostat_settings: thermostat::thermostat::ThermostatSettingsSummary;
                match flash_store.read_value(CONFIG_KEY[2]) {
                    Ok(Some(config)) => {
                        thermostat_settings = config;
                        debug!("Found Thermostat Settings");
                    }
                    Ok(None) => {
                        debug!("Does not have thermostat Settings");
                        continue;
                    }
                    Err(e) => {
                        debug!("Cannot Store Flash: {:?}", e);
                        continue;
                    }
                }

                wd.feed();
                device_settings = device_settings_flash;
                thermostat.load_settings_from_summary(thermostat_settings);
                laser.load_settings_from_summary(laser_settings);
            }
            State::MainLoop => {
                let mut eth_is_pending = false;
                
                laser.poll_and_update_output_current();
                
                if thermostat.poll_adc() {
                    thermostat.update_pid();
                    if thermostat.get_temp_mon_status().over_temp_alarm {
                        laser.power_down();
                        thermostat.set_pid_engaged(false);
                        thermostat.power_down();
                    }

                    net::net::for_each(|mut socket, id| {                        
                        if net::net::eth_is_socket_active(socket) && net::net::eth_is_socket_connected(socket) {
                            if active_report[id] {
                                net::cmd_handler::send_status_report(eth_data_buffer, &mut laser, &mut thermostat, &mut socket);
                            }
                        }
                        else {
                            active_report[id] = false;
                        }
                    });

                    thermostat.start_tec_readings_conversion();
                }
                cortex_m::interrupt::free(|cs| 
                    {
                        eth_is_pending = net::net::is_pending(cs);
                        net::net::clear_pending(cs);
                    }
                );
                if eth_is_pending {
                    net::net::for_each(|mut socket, id| {      
                        if net::net::eth_is_socket_active(socket) && net::net::eth_is_socket_connected(socket){
                            let bytes = net::net::eth_recv(eth_data_buffer, socket);
                            if bytes != 0 {
                                info!("Ts: {:?}", sys_timer::now());
                                debug!("Number of bytes recv: {:?}", bytes);
                                // State Transition
                                net::cmd_handler::execute_cmd(eth_data_buffer, bytes, &mut socket, &mut laser, &mut thermostat, &mut state, &mut device_settings, &mut active_report[id]);
                            }
                        }
                    })
                };
            }
            State::SaveFlashSettings => {
                // State Transition
                state = State::MainLoop;

                wd.feed();
                let mut store_value_buf = [0u8; 1024];
                match flash_store.write_value(CONFIG_KEY[0], &device_settings, &mut store_value_buf) {
                    Ok(()) => {
                        debug!("Device Settings is stored in flash");
                    }
                    Err(e) => {
                        debug!("Cannot Store Flash: {:?}", e);
                    }
                }

                wd.feed();
                match flash_store.write_value(CONFIG_KEY[1], &laser.get_settings_summary(), &mut store_value_buf) {
                    Ok(()) => {
                        debug!("Laser Diode Settings is stored in flash");
                    }
                    Err(e) => {
                        debug!("Cannot Store Flash: {:?}", e);
                    }
                }

                wd.feed();
                match flash_store.write_value(CONFIG_KEY[2], &thermostat.get_settings_summary(), &mut store_value_buf) {
                    Ok(()) => {
                        debug!("Thermostat Settings is stored in flash");
                    }
                    Err(e) => {
                        debug!("Cannot Store Flash: {:?}", e);
                    }
                }
            }
            State::PrepareForHardReset => {
                // State Transition
                state = State::HardReset;

                wd.feed();
                laser.power_down();
                thermostat.power_down();
                net::net::for_each(|mut socket, _| {      
                    if net::net::eth_is_socket_active(socket) {
                        net::cmd_handler::send_response(eth_data_buffer, net::cmd_handler::ResponseEnum::HardReset, None, &mut socket);
                    }
                });
            }
            State::HardReset => {
                wd.feed();
                laser.power_down();
                thermostat.power_down();
                let mut any_socket_alive = false;
                net::net::for_each(|socket, _| {      
                    if net::net::eth_is_socket_active(socket) {
                        net::net::eth_close_socket(socket);
                        any_socket_alive = true;
                    }
                });
    
                // Must let loop run for one more cycle to poll server for RST to be sent,
                // this makes sure system does not reset right after socket.abort() is called.
                if !any_socket_alive {
                    SCB::sys_reset();
                }  
            }
        }
    }
}