ad7172: refactor and add xor support

This commit is contained in:
Astro 2019-09-07 23:29:26 +02:00
parent 0697914182
commit f7af12adf5
4 changed files with 322 additions and 88 deletions

8
firmware/Cargo.lock generated
View File

@ -30,6 +30,11 @@ dependencies = [
"rustc_version 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)", "rustc_version 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
] ]
[[package]]
name = "bit_field"
version = "0.10.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
[[package]] [[package]]
name = "bitflags" name = "bitflags"
version = "1.1.0" version = "1.1.0"
@ -123,6 +128,8 @@ dependencies = [
name = "ionpak-firmware" name = "ionpak-firmware"
version = "1.0.0" version = "1.0.0"
dependencies = [ dependencies = [
"bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)",
"byteorder 1.3.2 (registry+https://github.com/rust-lang/crates.io-index)",
"cortex-m 0.5.10 (registry+https://github.com/rust-lang/crates.io-index)", "cortex-m 0.5.10 (registry+https://github.com/rust-lang/crates.io-index)",
"cortex-m-rt 0.6.10 (registry+https://github.com/rust-lang/crates.io-index)", "cortex-m-rt 0.6.10 (registry+https://github.com/rust-lang/crates.io-index)",
"cortex-m-semihosting 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)", "cortex-m-semihosting 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)",
@ -320,6 +327,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
"checksum aligned 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)" = "d3a316c7ea8e1e9ece54862c992def5a7ac14de9f5832b69d71760680efeeefa" "checksum aligned 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)" = "d3a316c7ea8e1e9ece54862c992def5a7ac14de9f5832b69d71760680efeeefa"
"checksum as-slice 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "293dac66b274fab06f95e7efb05ec439a6b70136081ea522d270bc351ae5bb27" "checksum as-slice 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "293dac66b274fab06f95e7efb05ec439a6b70136081ea522d270bc351ae5bb27"
"checksum bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)" = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3" "checksum bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)" = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
"checksum bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)" = "a165d606cf084741d4ac3a28fb6e9b1eb0bd31f6cd999098cfddb0b2ab381dc0"
"checksum bitflags 1.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "3d155346769a6855b86399e9bc3814ab343cd3d62c7e985113d46a0ec3c281fd" "checksum bitflags 1.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "3d155346769a6855b86399e9bc3814ab343cd3d62c7e985113d46a0ec3c281fd"
"checksum build_const 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "39092a32794787acd8525ee150305ff051b0aa6cc2abaf193924f5ab05425f39" "checksum build_const 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "39092a32794787acd8525ee150305ff051b0aa6cc2abaf193924f5ab05425f39"
"checksum byteorder 1.3.2 (registry+https://github.com/rust-lang/crates.io-index)" = "a7c3dd8985a7111efc5c80b44e23ecdd8c007de8ade3b96595387e812b957cf5" "checksum byteorder 1.3.2 (registry+https://github.com/rust-lang/crates.io-index)" = "a7c3dd8985a7111efc5c80b44e23ecdd8c007de8ade3b96595387e812b957cf5"

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@ -16,6 +16,8 @@ tm4c129x = { version = "0.8", features = ["rt"] }
embedded-hal = { version = "0.2", features = ["unproven"] } embedded-hal = { version = "0.2", features = ["unproven"] }
nb = "0.1" nb = "0.1"
cortex-m-semihosting = "0.3" cortex-m-semihosting = "0.3"
byteorder = { version = "1.3", default-features = false }
bit_field = "0.10"
[dependencies.smoltcp] [dependencies.smoltcp]
git = "https://github.com/m-labs/smoltcp" git = "https://github.com/m-labs/smoltcp"

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@ -1,37 +1,167 @@
use embedded_hal::digital::v2::OutputPin; use embedded_hal::digital::v2::OutputPin;
use embedded_hal::blocking::spi::Transfer; use embedded_hal::blocking::spi::Transfer;
use byteorder::{BigEndian, ByteOrder};
use bit_field::BitField;
#[allow(unused)] trait Register {
#[derive(Clone, Copy)] type Data: RegisterData;
fn address(&self) -> u8;
}
trait RegisterData {
fn empty() -> Self;
fn as_mut(&mut self) -> &mut [u8];
}
macro_rules! def_reg {
($Reg: ident, $reg: ident, $addr: expr, $size: expr) => (
struct $Reg;
impl Register for $Reg {
type Data = $reg::Data;
fn address(&self) -> u8 {
$addr
}
}
mod $reg {
pub struct Data(pub [u8; $size]);
impl super::RegisterData for Data {
fn empty() -> Self {
Data([0; $size])
}
fn as_mut(&mut self) -> &mut [u8] {
&mut self.0
}
}
}
)
}
def_reg!(Status, status, 0x00, 1);
impl status::Data {
/// Is there new data to read?
fn ready(&self) -> bool {
! self.0[0].get_bit(7)
}
/// Channel for which data is ready
fn channel(&self) -> u8 {
self.0[0].get_bits(0..=1)
}
fn adc_error(&self) -> bool {
self.0[0].get_bit(6)
}
fn crc_error(&self) -> bool {
self.0[0].get_bit(5)
}
fn reg_error(&self) -> bool {
self.0[0].get_bit(4)
}
}
def_reg!(IfMode, if_mode, 0x02, 2);
impl if_mode::Data {
fn set_crc(&mut self, mode: ChecksumMode) {
self.0[1].set_bits(2..=3, mode as u8);
}
}
def_reg!(Data, data, 0x04, 3);
impl data::Data {
fn data(&self) -> u32 {
(u32::from(self.0[0]) << 16) |
(u32::from(self.0[1]) << 8) |
u32::from(self.0[2])
}
}
def_reg!(Id, id, 0x07, 2);
impl id::Data {
fn id(&self) -> u16 {
BigEndian::read_u16(&self.0)
}
}
// #[allow(unused)]
// #[derive(Clone, Copy)]
// #[repr(u8)]
// pub enum Register {
// Status = 0x00,
// AdcMode = 0x01,
// IfMode = 0x02,
// RegCheck = 0x03,
// Data = 0x04,
// GpioCon = 0x06,
// Id = 0x07,
// Ch0 = 0x10,
// Ch1 = 0x11,
// Ch2 = 0x12,
// Ch3 = 0x13,
// SetupCon0 = 0x20,
// SetupCon1 = 0x21,
// SetupCon2 = 0x22,
// SetupCon3 = 0x23,
// FiltCon0 = 0x28,
// FiltCon1 = 0x29,
// FiltCon2 = 0x2A,
// FiltCon3 = 0x2B,
// Offset0 = 0x30,
// Offset1 = 0x31,
// Offset2 = 0x32,
// Offset3 = 0x33,
// Gain0 = 0x38,
// Gain1 = 0x39,
// Gain2 = 0x3A,
// Gain3 = 0x3B,
// }
#[derive(Clone, Debug, PartialEq)]
pub enum AdcError<SPI> {
SPI(SPI),
ChecksumMismatch(Option<u8>, Option<u8>),
}
impl<SPI> From<SPI> for AdcError<SPI> {
fn from(e: SPI) -> Self {
AdcError::SPI(e)
}
}
#[derive(Clone, Copy, PartialEq)]
#[repr(u8)] #[repr(u8)]
pub enum Register { pub enum ChecksumMode {
Status = 0x00, Off = 0b00,
AdcMode = 0x01, Xor = 0b01,
IfMode = 0x02, /// Not implemented
RegCheck = 0x03, #[allow(unused)]
Data = 0x04, Crc = 0b10,
GpioCon = 0x06, }
Id = 0x07,
Ch0 = 0x10, struct Checksum {
Ch1 = 0x11, mode: ChecksumMode,
Ch2 = 0x12, state: u8,
Ch3 = 0x13, }
SetupCon0 = 0x20,
SetupCon1 = 0x21, impl Checksum {
SetupCon2 = 0x22, pub fn new(mode: ChecksumMode) -> Self {
SetupCon3 = 0x23, Checksum { mode, state: 0 }
FiltCon0 = 0x28, }
FiltCon1 = 0x29, pub fn feed(&mut self, input: u8) {
FiltCon2 = 0x2A, match self.mode {
FiltCon3 = 0x2B, ChecksumMode::Off => {},
Offset0 = 0x30, ChecksumMode::Xor => self.state ^= input,
Offset1 = 0x31, ChecksumMode::Crc => {
Offset2 = 0x32, // TODO
Offset3 = 0x33, }
Gain0 = 0x38, }
Gain1 = 0x39, }
Gain2 = 0x3A, pub fn result(&self) -> Option<u8> {
Gain3 = 0x3B, match self.mode {
ChecksumMode::Off => None,
_ => Some(self.state)
}
}
} }
/// AD7172-2 implementation /// AD7172-2 implementation
@ -40,79 +170,141 @@ pub enum Register {
pub struct Adc<SPI: Transfer<u8>, NSS: OutputPin> { pub struct Adc<SPI: Transfer<u8>, NSS: OutputPin> {
spi: SPI, spi: SPI,
nss: NSS, nss: NSS,
checksum_mode: ChecksumMode,
} }
impl<SPI: Transfer<u8>, NSS: OutputPin> Adc<SPI, NSS> { impl<SPI: Transfer<u8>, NSS: OutputPin> Adc<SPI, NSS> {
pub fn new(spi: SPI, mut nss: NSS) -> Result<Self, SPI::Error> { pub fn new(spi: SPI, mut nss: NSS) -> Result<Self, SPI::Error> {
let _ = nss.set_high(); let _ = nss.set_high();
let mut adc = Adc { spi, nss}; let mut adc = Adc {
spi, nss,
checksum_mode: ChecksumMode::Off,
};
adc.reset()?; adc.reset()?;
let mut buf = [0, 0, 0];
adc.write_reg(Register::AdcMode, &mut buf)?;
let mut buf = [0, 1, 0];
adc.write_reg(Register::IfMode, &mut buf)?;
let mut buf = [0, 0, 0];
adc.write_reg(Register::GpioCon, &mut buf)?;
Ok(adc) Ok(adc)
} }
/// `0x00DX` for AD7271-2 /// `0x00DX` for AD7271-2
pub fn identify(&mut self) -> Option<u16> { pub fn identify(&mut self) -> Result<u16, AdcError<SPI::Error>> {
let mut buf = [0u8; 3]; self.read_reg(&Id)
self.read_reg(Register::Id, &mut buf) .map(|id| id.id())
.ok()
.map(|()| (u16::from(buf[1]) << 8) | u16::from(buf[2]))
} }
pub fn set_checksum_mode(&mut self, mode: ChecksumMode) -> Result<(), AdcError<SPI::Error>> {
let mut ifmode = self.read_reg(&IfMode)?;
ifmode.set_crc(mode);
self.checksum_mode = mode;
self.write_reg(&IfMode, &mut ifmode)?;
Ok(())
}
// pub fn setup(&mut self) -> Result<(), SPI::Error> {
// let mut buf = [0, 0, 0];
// adc.write_reg(Register::AdcMode, &mut buf)?;
// let mut buf = [0, 1, 0];
// adc.write_reg(Register::IfMode, &mut buf)?;
// let mut buf = [0, 0, 0];
// adc.write_reg(Register::GpioCon, &mut buf)?;
// Ok(())
// }
/// Returns the channel the data is from /// Returns the channel the data is from
pub fn data_ready(&mut self) -> Option<u8> { pub fn data_ready(&mut self) -> Result<Option<u8>, AdcError<SPI::Error>> {
let mut buf = [0u8; 2]; self.read_reg(&Status)
self.read_reg(Register::Status, &mut buf) .map(|status| {
.ok() if status.ready() {
.and_then(|()| { Some(status.channel())
if buf[1] & 0x80 == 0 {
None
} else { } else {
Some(buf[1] & 0x3) None
} }
}) })
} }
/// Get data /// Get data
pub fn read_data(&mut self) -> Result<u32, SPI::Error> { pub fn read_data(&mut self) -> Result<u32, AdcError<SPI::Error>> {
let mut buf = [0u8; 4]; self.read_reg(&Data)
self.read_reg(Register::Data, &mut buf)?; .map(|data| data.data())
let result = }
(u32::from(buf[1]) << 16) |
(u32::from(buf[2]) << 8) | fn read_reg<R: Register>(&mut self, reg: &R) -> Result<R::Data, AdcError<SPI::Error>> {
u32::from(buf[3]); let mut reg_data = R::Data::empty();
let address = 0x40 | reg.address();
let mut checksum = Checksum::new(self.checksum_mode);
checksum.feed(address);
let checksum_out = checksum.result();
let checksum_in = self.transfer(address, reg_data.as_mut(), checksum_out)?;
for &mut b in reg_data.as_mut() {
checksum.feed(b);
}
let checksum_expected = checksum.result();
if checksum_expected != checksum_in {
return Err(AdcError::ChecksumMismatch(checksum_expected, checksum_in));
}
Ok(reg_data)
}
fn write_reg<R: Register>(&mut self, reg: &R, reg_data: &mut R::Data) -> Result<(), AdcError<SPI::Error>> {
let address = reg.address();
let checksum_out = match self.checksum_mode {
ChecksumMode::Off => None,
ChecksumMode::Xor => {
let mut xor = address;
for b in reg_data.as_mut() {
xor ^= *b;
}
Some(xor)
}
ChecksumMode::Crc => panic!("Not implemented"),
};
self.transfer(address, reg_data.as_mut(), checksum_out)?;
Ok(())
}
fn update_reg<R, F, A>(&mut self, reg: &R, f: F) -> Result<A, AdcError<SPI::Error>>
where
R: Register,
F: FnOnce(&mut R::Data) -> A,
{
let mut reg_data = self.read_reg(reg)?;
let result = f(&mut reg_data);
self.write_reg(reg, &mut reg_data)?;
Ok(result) Ok(result)
} }
fn read_reg(&mut self, reg: Register, buffer: &'_ mut [u8]) -> Result<(), SPI::Error> {
buffer[0] = 0x40 | (reg as u8);
self.transfer(buffer)?;
Ok(())
}
fn write_reg(&mut self, reg: Register, buffer: &'_ mut [u8]) -> Result<(), SPI::Error> {
buffer[0] = reg as u8;
self.transfer(buffer)?;
Ok(())
}
pub fn reset(&mut self) -> Result<(), SPI::Error> { pub fn reset(&mut self) -> Result<(), SPI::Error> {
let mut buf = [0xFFu8; 8]; let mut buf = [0xFFu8; 8];
self.transfer(&mut buf)?; let _ = self.nss.set_low();
let result = self.spi.transfer(&mut buf);
let _ = self.nss.set_high();
result?;
Ok(()) Ok(())
} }
fn transfer<'w>(&mut self, words: &'w mut [u8]) -> Result<&'w [u8], SPI::Error> { fn transfer<'w>(&mut self, addr: u8, reg_data: &'w mut [u8], checksum: Option<u8>) -> Result<Option<u8>, SPI::Error> {
let mut addr_buf = [addr];
let _ = self.nss.set_low(); let _ = self.nss.set_low();
let result = self.spi.transfer(words); let result = match self.spi.transfer(&mut addr_buf) {
Ok(_) => self.spi.transfer(reg_data),
Err(e) => Err(e),
};
let result = match (result, checksum) {
(Ok(_),None) =>
Ok(None),
(Ok(_), Some(checksum_out)) => {
let mut checksum_buf = [checksum_out; 1];
match self.spi.transfer(&mut checksum_buf) {
Ok(_) => Ok(Some(checksum_buf[0])),
Err(e) => Err(e),
}
}
(Err(e), _) =>
Err(e),
};
let _ = self.nss.set_high(); let _ = self.nss.set_high();
result result
} }
} }

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@ -106,13 +106,28 @@ fn main() -> ! {
loop { loop {
let r = adc.identify(); let r = adc.identify();
match r { match r {
None => Err(e) =>
writeln!(stdout, "Cannot identify ADC!").unwrap(), writeln!(stdout, "Cannot identify ADC: {:?}", e).unwrap(),
Some(id) if id & 0xFFF0 == 0x00D0 => { Ok(id) if id & 0xFFF0 == 0x00D0 => {
writeln!(stdout, "ADC id: {:04X}", id).unwrap(); writeln!(stdout, "ADC id: {:04X}", id).unwrap();
break; break;
} }
Some(id) => Ok(id) =>
writeln!(stdout, "Corrupt ADC id: {:04X}", id).unwrap(),
};
}
writeln!(stdout, "AD7172: setting checksum mode to XOR").unwrap();
adc.set_checksum_mode(ad7172::ChecksumMode::Xor).unwrap();
loop {
let r = adc.identify();
match r {
Err(e) =>
writeln!(stdout, "Cannot identify ADC: {:?}", e).unwrap(),
Ok(id) if id & 0xFFF0 == 0x00D0 => {
writeln!(stdout, "ADC id: {:04X}", id).unwrap();
break;
}
Ok(id) =>
writeln!(stdout, "Corrupt ADC id: {:04X}", id).unwrap(), writeln!(stdout, "Corrupt ADC id: {:04X}", id).unwrap(),
}; };
} }
@ -165,21 +180,27 @@ fn main() -> ! {
]; ];
let mut time = 0i64; let mut time = 0i64;
let mut data = 0; let mut data = None;
// if a socket has sent the latest data
let mut socket_pending = [false; 8]; let mut socket_pending = [false; 8];
loop { loop {
adc.data_ready() adc.data_ready()
.map(|channel| { .and_then(|channel|
adc.read_data() channel.map(|channel|
.map(|new_data| { adc.read_data().map(|new_data| {
writeln!(stdout, "adc data: {:?}", new_data).unwrap(); data = Some(Ok((channel, new_data)));
data = new_data;
if channel == 0 {
for p in socket_pending.iter_mut() { for p in socket_pending.iter_mut() {
*p = true; *p = true;
} }
}
}) })
).unwrap_or(Ok(()))
)
.map_err(|e| {
data = Some(Err(e));
for p in socket_pending.iter_mut() {
*p = true;
}
}); });
for (&tcp_handle, pending) in handles.iter().zip(socket_pending.iter_mut()) { for (&tcp_handle, pending) in handles.iter().zip(socket_pending.iter_mut()) {
let socket = &mut *sockets.get::<TcpSocket>(tcp_handle); let socket = &mut *sockets.get::<TcpSocket>(tcp_handle);
@ -188,7 +209,18 @@ fn main() -> ! {
} }
if socket.may_send() && *pending { if socket.may_send() && *pending {
let _ = writeln!(socket, "{}\r", data); match &data {
Some(Ok((channel, input))) => {
let _ = writeln!(socket, "channel={} input={}\r", channel, input);
}
Some(Err(ad7172::AdcError::ChecksumMismatch(Some(expected), Some(input)))) => {
let _ = writeln!(socket, "checksum_expected={:02X} checksum_input={:02X}\r", expected, input);
}
Some(Err(e)) => {
let _ = writeln!(socket, "adc_error={:?}\r", e);
}
None => {}
}
*pending = false; *pending = false;
} }
} }