forked from M-Labs/kirdy
Use FSM to manage device state in main loop
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parent
3aca712e1d
commit
df939eb9a3
151
src/main.rs
151
src/main.rs
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@ -35,6 +35,15 @@ pub struct DeviceSettings{
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report_readings: bool,
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}
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#[derive(Default)]
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enum State {
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#[default]
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LoadFlashSettings,
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MainLoop,
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SaveFlashSettings,
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HardReset,
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}
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#[cfg(not(test))]
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#[entry]
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fn main() -> ! {
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@ -84,85 +93,97 @@ fn main() -> ! {
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report_readings: false,
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};
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let mut state = State::default();
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loop {
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wd.feed();
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if !should_reset {
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let mut eth_is_pending = false;
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let mut has_temp_reading = false;
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laser.poll_and_update_output_current();
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if thermostat.poll_adc() {
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has_temp_reading = true;
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thermostat.update_pid();
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if thermostat.get_temp_mon_status().over_temp_alarm {
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laser.power_down();
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thermostat.set_pid_engaged(false);
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thermostat.power_down();
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match state {
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State::LoadFlashSettings => {
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wd.feed();
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// Todo
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// State Transition
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state = State::MainLoop;
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}
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State::MainLoop => {
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let mut eth_is_pending = false;
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let mut has_temp_reading = false;
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laser.poll_and_update_output_current();
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if thermostat.poll_adc() {
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has_temp_reading = true;
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thermostat.update_pid();
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if thermostat.get_temp_mon_status().over_temp_alarm {
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laser.power_down();
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thermostat.set_pid_engaged(false);
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thermostat.power_down();
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}
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if net::net::eth_is_socket_active() {
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if device_settings.report_readings {
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unsafe {
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net::cmd_handler::send_status_report(&mut ETH_DATA_BUFFER, &mut laser, &mut thermostat);
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}
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}
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}
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}
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// info!("curr_dac_vfb: {:?}", volt_fmt.with(thermostat.get_dac_vfb()));
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// info!("curr_vref: {:?}", volt_fmt.with(thermostat.get_vref()));
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// info!("curr_tec_i: {:?}", amp_fmt.with(thermostat.get_tec_i()));
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// info!("curr_tec_v: {:?}", volt_fmt.with(thermostat.get_tec_v()));
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// info!("curr_ld_drive_cuurent: {:?}", milli_amp_fmt.with(laser.get_ld_drive_current()));
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// info!("pd_mon_v: {:?}", volt_fmt.with(laser.pd_mon_status().v));
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// info!("power_excursion: {:?}", laser.pd_mon_status().pwr_excursion);
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// info!("Termination Status: {:?}", laser.get_term_status());
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if net::net::eth_is_socket_active() {
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if device_settings.report_readings {
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unsafe {
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net::cmd_handler::send_status_report(&mut ETH_DATA_BUFFER, &mut laser, &mut thermostat);
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cortex_m::interrupt::free(|cs|
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{
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eth_is_pending = net::net::is_pending(cs);
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}
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);
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if eth_is_pending {
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unsafe{
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cortex_m::interrupt::free(|cs| {
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net::net::clear_pending(cs);
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});
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let bytes = net::net::eth_recv(&mut ETH_DATA_BUFFER);
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if bytes != 0 {
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info!("Ts: {:?}", sys_timer::now());
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debug!("Number of bytes recv: {:?}", bytes);
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(laser, thermostat, should_reset, device_settings) = net::cmd_handler::execute_cmd(&mut ETH_DATA_BUFFER, bytes, laser, thermostat, device_settings);
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}
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}
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}
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}
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}
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if net::net::eth_is_socket_active() {
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cortex_m::interrupt::free(|cs|
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{
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eth_is_pending = net::net::is_pending(cs);
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}
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);
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if eth_is_pending {
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unsafe{
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cortex_m::interrupt::free(|cs| {
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net::net::clear_pending(cs);
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});
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let bytes = net::net::eth_recv(&mut ETH_DATA_BUFFER);
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if bytes != 0 {
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info!("Ts: {:?}", sys_timer::now());
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debug!("Number of bytes recv: {:?}", bytes);
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(laser, thermostat, should_reset, device_settings) = net::cmd_handler::execute_cmd(&mut ETH_DATA_BUFFER, bytes, laser, thermostat, device_settings);
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}
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if has_temp_reading {
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thermostat.start_tec_readings_conversion();
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}
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}
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if has_temp_reading {
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thermostat.start_tec_readings_conversion();
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else {
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device_settings.report_readings = false;
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}
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// State Transition
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if should_reset {
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state = State::HardReset;
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}
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}
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else {
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device_settings.report_readings = false;
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State::SaveFlashSettings => {
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wd.feed();
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// Todo
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// State Transition
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state = State::MainLoop;
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}
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} else {
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// Should reset, close all TCP sockets.
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let mut any_socket_alive = false;
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if net::net::eth_is_socket_active() {
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net::net::eth_close_socket();
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any_socket_alive = true;
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State::HardReset => {
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wd.feed();
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laser.power_down();
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thermostat.power_down();
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let mut any_socket_alive = false;
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if net::net::eth_is_socket_active() {
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net::net::eth_close_socket();
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any_socket_alive = true;
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}
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// Must let loop run for one more cycle to poll server for RST to be sent,
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// this makes sure system does not reset right after socket.abort() is called.
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if !any_socket_alive {
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SCB::sys_reset();
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}
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}
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// Must let loop run for one more cycle to poll server for RST to be sent,
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// this makes sure system does not reset right after socket.abort() is called.
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if !any_socket_alive {
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SCB::sys_reset();
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}
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}
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}
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}
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