new-sonar/firmware/src/main.rs

#![no_std]
#![no_main]
// TODO remove
#![allow(unused)]

extern crate panic_halt;

use core::fmt::Write;
use core::{
    arch::asm,
    ptr::{read_volatile, write_volatile},
};

use embedded_hal::prelude::{_embedded_hal_blocking_i2c_Read, _embedded_hal_blocking_i2c_Write};
use mcp4726::Status;
use riscv_rt::entry;
use smoltcp::socket::{self, Socket};
use smoltcp::time::Duration;
use smoltcp::wire::{IpAddress, Ipv4Address};
use smoltcp::{
    iface::{SocketSet, SocketStorage},
    socket::tcp::Socket as TcpSocket,
    socket::tcp::SocketBuffer,
    time::Instant,
    wire::HardwareAddress,
};

mod command_interface;
mod eth;
mod i2c;
mod logging;
mod mcp4726;
mod proto;
mod uart;

const MAC: [u8; 6] = [0xA0, 0xBB, 0xCC, 0xDD, 0xEE, 0xF0];

static mut SECONDS: u32 = 0;

// use `main` as the entry point of this application
// `main` is not allowed to return
#[entry]
fn main() -> ! {
    //unsafe { eth::init(); }

    //let blink_period = unsafe {
    //    if eth::is_wishbone_correct() {
    //        10_000_000
    //    } else {
    //        500_000
    //    }
    //};
    let blink_period = 10_000_000u32;

    // enable timer

    let mut device = unsafe { eth::LiteEthDevice::try_init(0xf000_0800, 0x8000_0000).unwrap() };

    use smoltcp::wire::{EthernetAddress, HardwareAddress};
    let mut config = smoltcp::iface::Config::default();
    config.hardware_addr = Some(HardwareAddress::Ethernet(EthernetAddress::from_bytes(&MAC)));

    let mut iface = smoltcp::iface::Interface::new(config, &mut device);
    // Set address
    iface.update_ip_addrs(|ip_addrs| {
        ip_addrs
            .push(smoltcp::wire::IpCidr::new(
                IpAddress::Ipv4(Ipv4Address::new(192, 168, 88, 69)),
                24,
            ))
            .unwrap();
    });

    iface
        .routes_mut()
        .add_default_ipv4_route(Ipv4Address::new(192, 168, 88, 1))
        .unwrap();

    // Create socket set with 4 available
    let mut socket_storage = [SocketStorage::EMPTY; 4];
    let mut socket_set = SocketSet::new(&mut socket_storage[..]);

    let mut tx_storage = [0u8; 64];
    let mut rx_storage = [0u8; 64];
    let mut tx_buf = SocketBuffer::new(&mut tx_storage[..]);
    let mut rx_buf = SocketBuffer::new(&mut rx_storage[..]);
    let mut command_socket = socket_set.add(TcpSocket::new(tx_buf, rx_buf));
    // Set a keepalive on the socket to handle unexpected client disconnects
    {
        let mut sock = socket_set.get_mut::<TcpSocket>(command_socket);
        // TODO these values are obscene, should fix the underlying bug
        sock.set_keep_alive(Some(Duration::from_secs(2)));
        sock.set_timeout(Some(Duration::from_secs(10)))
    }

    let mut last_blink: u32 = 0;
    let mut toggle = false;
    //defmt::info!("Done setup");

    // Set up timer for polling events
    unsafe {
        // Timer stuff
        write_reg(0xf000_3808, 0u32); // Disable timer
        write_reg(0xf000_3800, 0u32); // Set LOAD value
        write_reg(0xf000_3804, 60_000_000u32); // Set RELOAD value
        write_reg(0xf000_3808, 1u32); // Enable timer
    }

    let mut cmd = command_interface::CommandInterface::new();

    loop {
        let now = millis();
        // TODO the need for the second check screams something is unsound somewhere
        if now - last_blink > 1000 && now > last_blink {
            last_blink = now;
            toggle = !toggle;
            write_led(if toggle { 1 } else { 0 });

            let val: u32 = unsafe { read_reg(0x8000_2000) };
        }

        // TODO I think the timer might actually stop until the event is cleared? this may pose
        // problems, might explain why moving this above the smoltcp stuff "broke" things
        handle_timer_event();

        iface.poll(Instant::from_millis(now), &mut device, &mut socket_set);

        // TODO first connection to a socket takes a while to establish, and can time out, why?
        cmd.run(socket_set.get_mut(command_socket));
    }
}

fn handle_timer_event() {
    unsafe {
        if read_reg::<u32>(0xf000_3818) == 0 {
            // No event yet, continue
            return;
        }

        // Clear TIMER0 event status, and update time
        write_reg(0xf000_3818, 1u32);
        SECONDS += 1;
    }
}

fn busy_wait(ms: u32) {
    let start = millis();
    while millis() - start < ms {
        unsafe {
            asm!("nop");
        }
    }
}

fn write_led(val: u32) {
    unsafe {
        write_reg(0xf000_2000, val);
    }
}

unsafe fn write_reg<T>(addr: u32, value: T) {
    write_volatile(addr as *mut T, value);
}

unsafe fn read_reg<T>(addr: u32) -> T {
    return read_volatile(addr as *mut T);
}

fn millis() -> u32 {
    riscv::interrupt::free(|| {
        unsafe {
            // Latch timer value
            write_reg(0xf000_380c, 1u32);
            // Read timer value
            let val: u32 = read_reg(0xf000_3810);
            let val = 60_000_000 - val;
            (SECONDS * 1000) + val / 60_000
        }
    })
}