setup.rs

//! Booster hardware setup and configuration routines.
use embedded_hal_bus::i2c::AtomicDevice;

use super::{
    booster_channels::BoosterChannels,
    chassis_fans::ChassisFans,
    delay::AsmDelay,
    flash::Flash,
    metadata::ApplicationMetadata,
    net_interface, platform,
    rf_channel::{AdcPin, ChannelPins as RfChannelPins},
    usb,
    user_interface::{UserButtons, UserLeds},
    Channel, HardwareVersion, Mac, NetworkStack, SerialTerminal, SystemTimer, Systick, UsbBus,
    CPU_FREQ, I2C,
};
use stm32f4xx_hal::hal::delay::DelayNs;

use crate::settings::eeprom::main_board::BoosterMainBoardData;

use stm32f4xx_hal as hal;

use bit_field::BitField;
use core::convert::TryInto;
use core::fmt::Write;
use hal::prelude::*;
use heapless::String;
use rand_core::RngCore;
use usb_device::prelude::*;

/// Macro for genering an RfChannelPins structure.
///
/// # Args
/// * `gpiod` - The GPIOD Parts structure to extract pins from.
/// * `gpioe` - The GPIOE Parts structure to extract pins from.
/// * `gpiog` - The GPIOG Parts structure to extract pins from.
/// * `enable` - The pin ID of the enable pin in GPIOD.
/// * `alert` - The pin ID of the alert pin in GPIOD.
/// * `reflected_overdrive` - The pin ID of the input overdrive pin in GPIOE.
/// * `output_overdrive` - The pin ID of the output overdrive pin in GPIOE.
/// * `signal_on` - The pin ID of the signal on pin in GPIOG.
/// * `gpioa` - The GPIO port used to instantiate analog pins.
/// * `tx_power` - The name of the pin to instantiate for the TX power measurement.
/// * `reflected_power` - The name of the pin to instantiate for the reflected power measurement.
///
/// # Returns
/// An option containing the RfChannelPins structure.
macro_rules! channel_pins {
    ($gpiod:ident, $gpioe:ident, $gpiog:ident, $enable:ident, $alert:ident, $reflected_overdrive:ident,
     $output_overdrive:ident, $signal_on:ident, $gpioa:ident, $tx_power:ident, $reflected_power:ident) => {{
        let enable_power = $gpiod.$enable.into_push_pull_output().erase();
        let alert = $gpiod.$alert.into_floating_input().erase();
        let reflected_overdrive = $gpioe.$reflected_overdrive.into_floating_input().erase();
        let output_overdrive = $gpioe.$output_overdrive.into_pull_down_input().erase();
        let signal_on = $gpiog.$signal_on.into_push_pull_output().erase();
        let tx_power = AdcPin::$tx_power($gpioa.$tx_power.into_analog());
        let reflected_power = AdcPin::$reflected_power($gpioa.$reflected_power.into_analog());

        RfChannelPins::new(
            enable_power,
            alert,
            reflected_overdrive,
            output_overdrive,
            signal_on,
            tx_power,
            reflected_power,
        )
    }};
}

/// Container method for all devices on the main I2C bus.
pub struct MainBus {
    pub channels: BoosterChannels,
    pub fans: ChassisFans,
}

/// Configured Booster hardware devices.
pub struct BoosterDevices {
    pub leds: UserLeds,
    pub buttons: UserButtons,
    pub main_bus: MainBus,
    pub network_stack: NetworkStack,
    pub watchdog: hal::watchdog::IndependentWatchdog,
    pub usb_device: usb::UsbDevice,
    pub usb_serial: SerialTerminal,
    pub settings: crate::settings::Settings,
    pub metadata: &'static ApplicationMetadata,
}

/// Configure Booster hardware peripherals and RF channels.
///
/// # Note
/// It is only acceptable to call this function once per boot.
///
/// # Args
/// * `core` - The RTIC core peripherals
/// * `device` - The RTIC STM32 device peripherals.
///
/// # Returns
/// The configured [BoosterDevices].
pub fn setup(
    mut core: rtic::export::Peripherals,
    device: stm32f4xx_hal::pac::Peripherals,
    clock: SystemTimer,
) -> BoosterDevices {
    // Configure RTT logging.
    device.DBGMCU.cr().modify(|_, w| w.dbg_sleep().set_bit());
    rtt_target::rtt_init_print!();

    // Install the logger
    log::set_logger(&crate::LOGGER)
        .map(|()| log::set_max_level(log::LevelFilter::Info))
        .unwrap();

    log::info!("Starting initialization");

    if platform::dfu_bootflag() {
        platform::execute_system_bootloader();
    }

    core.DWT.enable_cycle_counter();
    core.DCB.enable_trace();

    // Initialize the chip
    let rcc = device.RCC.constrain();

    // Note: CPU frequency is currently set to maximum, but it could potentially be lowered if
    // needed.
    let clocks = rcc
        .cfgr
        .use_hse(8.MHz())
        .sysclk(168.MHz())
        .hclk(CPU_FREQ.Hz())
        .pclk1(42.MHz())
        .require_pll48clk()
        .freeze();

    Systick::start(core.SYST, clocks.sysclk().to_Hz());

    // Start the watchdog during the initialization process.
    let mut watchdog = hal::watchdog::IndependentWatchdog::new(device.IWDG);
    watchdog.start(30.secs());

    let mut delay = AsmDelay::new(clocks.sysclk().to_Hz());

    let gpioa = device.GPIOA.split();
    let gpiob = device.GPIOB.split();
    let gpioc = device.GPIOC.split();
    let gpiod = device.GPIOD.split();
    let gpioe = device.GPIOE.split();
    let gpiof = device.GPIOF.split();
    let gpiog = device.GPIOG.split();

    let mut pa_ch_reset_n = gpiob.pb9.into_push_pull_output();
    pa_ch_reset_n.set_high();

    // Manually reset all of the I2C buses across the RF channels using a bit-bang reset.
    let mut i2c_mux_reset = gpiob.pb14.into_push_pull_output();

    let i2c_bus_manager: &'static _ = {
        let mut mux = {
            let i2c = {
                hal::i2c::I2c::new(
                    device.I2C1,
                    (
                        gpiob.pb6.into_alternate_open_drain(),
                        gpiob.pb7.into_alternate_open_drain(),
                    ),
                    100.kHz(),
                    &clocks,
                )
            };

            tca9548::Tca9548::default(i2c, &mut i2c_mux_reset, &mut delay).unwrap()
        };

        mux.enable(0xFF).unwrap();

        let (i2c_peripheral, pins) = mux.free().release();
        let (scl, sda) = pins;

        let mut scl: hal::gpio::PB6<hal::gpio::Output<hal::gpio::OpenDrain>> =
            scl.try_into().unwrap();
        let mut sda: hal::gpio::PB7<hal::gpio::Output<hal::gpio::OpenDrain>> =
            sda.try_into().unwrap();

        platform::i2c_bus_reset(&mut sda, &mut scl, &mut delay);

        let i2c = {
            hal::i2c::I2c::new(
                i2c_peripheral,
                (
                    scl.into_alternate_open_drain(),
                    sda.into_alternate_open_drain(),
                ),
                100.kHz(),
                &clocks,
            )
        };

        cortex_m::singleton!(:embedded_hal_bus::util::AtomicCell<I2C> = embedded_hal_bus::util::AtomicCell::new(i2c))
            .unwrap()
    };

    // Instantiate the I2C interface to the I2C mux. Use a shared-bus so we can share the I2C
    // bus with all of the Booster peripheral devices.
    let mut channels = {
        let pins = [
            channel_pins!(gpiod, gpioe, gpiog, pd0, pd8, pe8, pe0, pg8, gpioa, pa0, pa1),
            channel_pins!(gpiod, gpioe, gpiog, pd1, pd9, pe9, pe1, pg9, gpioa, pa2, pa3),
            channel_pins!(gpiod, gpioe, gpiog, pd2, pd10, pe10, pe2, pg10, gpiof, pf6, pf7),
            channel_pins!(gpiod, gpioe, gpiog, pd3, pd11, pe11, pe3, pg11, gpiof, pf8, pf9),
            channel_pins!(gpiod, gpioe, gpiog, pd4, pd12, pe12, pe4, pg12, gpiof, pf10, pf3),
            channel_pins!(gpiod, gpioe, gpiog, pd5, pd13, pe13, pe5, pg13, gpioc, pc0, pc1),
            channel_pins!(gpiod, gpioe, gpiog, pd6, pd14, pe14, pe6, pg14, gpioc, pc2, pc3),
            channel_pins!(gpiod, gpioe, gpiog, pd7, pd15, pe15, pe7, pg15, gpiof, pf4, pf5),
        ];

        let mut mux = {
            tca9548::Tca9548::default(
                AtomicDevice::new(i2c_bus_manager),
                &mut i2c_mux_reset,
                &mut delay,
            )
            .unwrap()
        };

        // Test scanning and reading back MUX channels.
        assert!(mux.self_test().unwrap());

        let config = hal::adc::config::AdcConfig::default().reference_voltage(2500);

        let adc = hal::adc::Adc::adc3(device.ADC3, true, config);

        BoosterChannels::new(mux, adc, i2c_bus_manager, pins, clock, delay.clone())
    };

    let buttons = {
        let button1 = gpiof.pf14.into_floating_input();
        let button2 = gpiof.pf15.into_floating_input();
        UserButtons::new(button1, button2)
    };

    let leds = {
        let spi = {
            let mode = hal::spi::Mode {
                polarity: hal::spi::Polarity::IdleLow,
                phase: hal::spi::Phase::CaptureOnFirstTransition,
            };

            hal::spi::Spi::new(
                device.SPI2,
                (
                    gpiob.pb13.into_alternate(),
                    hal::spi::NoMosi::new(),
                    gpiob.pb15.into_alternate(),
                ),
                mode,
                10.MHz(),
                &clocks,
            )
        };

        let csn = gpiob.pb12.into_push_pull_output();
        let oen = gpiob.pb8.into_push_pull_output();

        UserLeds::new(spi, csn, oen)
    };

    let mut eeprom = {
        let i2c2 = {
            // Manually reset the I2C bus
            let mut scl = gpiob.pb10.into_open_drain_output();
            let mut sda = gpiob.pb11.into_open_drain_output();
            platform::i2c_bus_reset(&mut sda, &mut scl, &mut delay);

            hal::i2c::I2c::new(
                device.I2C2,
                (
                    scl.into_alternate_open_drain(),
                    sda.into_alternate_open_drain(),
                ),
                100.kHz(),
                &clocks,
            )
        };

        microchip_24aa02e48::Microchip24AA02E48::new(i2c2).unwrap()
    };

    let mac_address = {
        let mut mac: [u8; 6] = [0; 6];
        eeprom.read_eui48(&mut mac).unwrap();
        mac
    };

    let mut flash = {
        let flash = stm32f4xx_hal::flash::LockedFlash::new(device.FLASH);
        const SECTOR_SIZE: usize = 128 * 1024;
        const NUM_SECTORS: usize = 8;

        // sequential-storage requires 2 flash sectors for storage. We allocate them at the end of
        // flash.
        Flash::new(flash, (NUM_SECTORS - 2) * SECTOR_SIZE)
    };

    // Load initial runtime setings from RF channel EEPROM. We'll potentially overwrite these with
    // data loaded from flash later.
    let mut runtime_settings = crate::settings::runtime_settings::RuntimeSettings::default();
    for idx in enum_iterator::all::<Channel>() {
        runtime_settings.channel[idx as usize] = channels
            .channel_mut(idx)
            .map(|(channel, _)| *channel.context().settings())
    }

    // Load initial main-board settings from EEPROM
    let eeprom_settings = BoosterMainBoardData::load(&mut eeprom);
    runtime_settings.fan_speed = eeprom_settings.fan_speed;

    let mut settings = crate::settings::Settings {
        mac: eeprom_settings.mac,
        ip: eeprom_settings.ip,
        broker: eeprom_settings.broker,
        gateway: eeprom_settings.gateway,
        id: eeprom_settings.id,
        booster: runtime_settings,
    };

    // Now that we've initialized settings from EEPROM, we'll potentially overwrite them using
    // values stored in flash. This helps preserve backwards compatibility with older Booster
    // firmware versions that didn't store settings in flash. We no longer persist settings to
    // EEPROM, so flash will have the latest and greatest settings data.
    crate::settings::flash::SerialSettingsPlatform::load(&mut settings, &mut flash);

    let mut mac = {
        let mut spi = {
            let mode = hal::spi::Mode {
                polarity: hal::spi::Polarity::IdleLow,
                phase: hal::spi::Phase::CaptureOnFirstTransition,
            };

            hal::spi::Spi::new(
                device.SPI1,
                (
                    gpioa.pa5.into_alternate(),
                    gpioa.pa6.into_alternate(),
                    gpioa.pa7.into_alternate(),
                ),
                mode,
                14.MHz(),
                &clocks,
            )
        };

        let mut cs = {
            let mut pin = gpioa.pa4.into_push_pull_output();
            pin.set_high();
            pin
        };

        // Attempt to read the W5500 VERSION register. On the W5500, we will get the expected
        // version code of 0x04, but the ENC424J600 won't return anything meaningful.
        let w5500_detected = {
            cs.set_low();
            let transfer = [
                0x00, 0x39, // Reading the version register (address 0x0039)
                0x01, // Control phase, 1 byte of data, common register block, read
                0x00, // Data, don't care, will be overwritten during read.
            ];

            let mut result = [0; 4];

            spi.transfer(&mut result, &transfer).unwrap();

            cs.set_high();

            // The result is stored in the data phase byte. This should always be a 0x04 for the
            // W5500.
            result[3] == 0x04
        };

        let spi = embedded_hal_bus::spi::ExclusiveDevice::new(spi, cs, delay.clone()).unwrap();

        if w5500_detected {
            // Reset the W5500.
            let mut mac_reset_n = gpiog.pg5.into_push_pull_output();

            // Ensure the reset is registered.
            mac_reset_n.set_low();
            delay.delay_ms(1u32);
            mac_reset_n.set_high();

            // Wait for the W5500 to achieve PLL lock.
            delay.delay_ms(1u32);

            let w5500 = w5500::UninitializedDevice::new(w5500::bus::FourWire::new(spi))
                .initialize_macraw(w5500::MacAddress {
                    octets: mac_address,
                })
                .unwrap();

            Mac::W5500(w5500)
        } else {
            let mut mac = enc424j600::Enc424j600::new(spi);
            mac.init(&mut delay).expect("PHY initialization failed");
            mac.write_mac_addr(&mac_address).unwrap();

            Mac::Enc424j600(mac)
        }
    };

    let metadata = {
        // Read the hardware version pins.
        let hardware_version = {
            let hwrev0 = gpiof.pf0.into_pull_down_input();
            let hwrev1 = gpiof.pf1.into_pull_down_input();
            let hwrev2 = gpiof.pf2.into_pull_down_input();

            HardwareVersion::from(
                *0u8.set_bit(0, hwrev0.is_high())
                    .set_bit(1, hwrev1.is_high())
                    .set_bit(2, hwrev2.is_high()),
            )
        };

        let phy_string = match mac {
            Mac::W5500(_) => "W5500",
            Mac::Enc424j600(_) => "Enc424j600",
        };

        ApplicationMetadata::new(hardware_version, phy_string)
    };

    let mut rng = device.RNG.constrain(&clocks);

    let (interface, sockets) = net_interface::setup(&mut mac, &settings, rng.next_u64());
    let mut network_stack = smoltcp_nal::NetworkStack::new(interface, mac, sockets, clock);

    let mut seed_bytes = [0; 8];
    rng.fill_bytes(&mut seed_bytes);
    network_stack.seed_random_port(&seed_bytes);

    let mut fans = {
        let main_board_leds = {
            let mut led1 = gpioc.pc8.into_push_pull_output();
            let mut led2 = gpioc.pc9.into_push_pull_output();
            let mut led3 = gpioc.pc10.into_push_pull_output();

            led1.set_low();
            led2.set_low();
            led3.set_low();

            (led1, led2, led3)
        };

        let fan1 = max6639::Max6639::new(
            AtomicDevice::new(i2c_bus_manager),
            max6639::AddressPin::Pulldown,
        )
        .unwrap();
        let fan2 = max6639::Max6639::new(
            AtomicDevice::new(i2c_bus_manager),
            max6639::AddressPin::Float,
        )
        .unwrap();
        let fan3 = max6639::Max6639::new(
            AtomicDevice::new(i2c_bus_manager),
            max6639::AddressPin::Pullup,
        )
        .unwrap();

        ChassisFans::new(
            [fan1, fan2, fan3],
            main_board_leds,
            settings.booster.fan_speed,
        )
    };

    assert!(fans.self_test(&mut delay));

    // Set up the USB bus.
    let (usb_device, usb_serial) = {
        // Note(unwrap): The setup function is only safe to call once, so these unwraps should never
        // fail.
        let endpoint_memory = cortex_m::singleton!(: [u32; 1024] = [0; 1024]).unwrap();
        let usb_bus =
            cortex_m::singleton!(: Option<usb_device::bus::UsbBusAllocator<UsbBus>> = None)
                .unwrap();
        let serial_number = cortex_m::singleton!(: Option<String<64>> = None).unwrap();

        let usb = hal::otg_fs::USB::new(
            (
                device.OTG_FS_GLOBAL,
                device.OTG_FS_DEVICE,
                device.OTG_FS_PWRCLK,
            ),
            (gpioa.pa11.into_alternate(), gpioa.pa12.into_alternate()),
            &clocks,
        );

        usb_bus.replace(hal::otg_fs::UsbBus::new(usb, &mut endpoint_memory[..]));
        let read_store = cortex_m::singleton!(: [u8; 128] = [0; 128]).unwrap();
        let write_store = cortex_m::singleton!(: [u8; 1024] = [0; 1024]).unwrap();

        let usb_serial = usbd_serial::SerialPort::new_with_store(
            usb_bus.as_ref().unwrap(),
            &mut read_store[..],
            &mut write_store[..],
        );

        // Generate a device serial number from the MAC address.
        {
            let mut serial_string: String<64> = String::new();

            write!(
                &mut serial_string,
                "{:02x}-{:02x}-{:02x}-{:02x}-{:02x}-{:02x}",
                mac_address[0],
                mac_address[1],
                mac_address[2],
                mac_address[3],
                mac_address[4],
                mac_address[5]
            )
            .unwrap();
            serial_number.replace(serial_string);
        }

        let usb_device =
            // USB VID/PID registered at https://pid.codes/1209/3933/
            UsbDeviceBuilder::new(usb_bus.as_ref().unwrap(), UsbVidPid(0x1209, 0x3933))
                .strings(&[usb_device::device::StringDescriptors::default()
                    .manufacturer("ARTIQ/Sinara")
                    .product("Booster")
                    .serial_number(serial_number.as_ref().unwrap().as_str())

                ]).unwrap()
                .device_class(usbd_serial::USB_CLASS_CDC)
                .build();

        (usb::UsbDevice::new(usb_device), usb_serial)
    };

    let serial_terminal = {
        let input_buffer = cortex_m::singleton!(:[u8; 256] = [0u8; 256]).unwrap();
        let serialize_buffer = cortex_m::singleton!(:[u8; 512] = [0u8; 512]).unwrap();

        serial_settings::Runner::new(
            crate::settings::flash::SerialSettingsPlatform {
                metadata,
                _settings_marker: core::marker::PhantomData,
                interface: serial_settings::BestEffortInterface::new(usb_serial),
                storage: flash,
            },
            input_buffer,
            serialize_buffer,
            &mut settings,
        )
        .unwrap()
    };

    info!("Startup complete");

    BoosterDevices {
        leds,
        buttons,
        // Note: These devices are within a containing structure because they exist on the same
        // shared I2C bus.
        main_bus: MainBus { channels, fans },
        network_stack,
        settings,
        usb_device,
        usb_serial: serial_terminal,
        watchdog,
        metadata,
    }
}