ad7172: setup adc

firmware/Cargo.lock

@@ -22,11 +22,6 @@ dependencies = [
  "stable_deref_trait 1.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
-[[package]]
-name = "autocfg"
-version = "0.1.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-
 [[package]]
 name = "bare-metal"
 version = "0.2.5"
@@ -45,14 +40,6 @@ name = "bitflags"
 version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
-[[package]]
-name = "btoi"
-version = "0.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-dependencies = [
- "num-traits 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
-]
-
 [[package]]
 name = "build_const"
 version = "0.2.1"
@@ -63,6 +50,24 @@ name = "byteorder"
 version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
+[[package]]
+name = "cc"
+version = "1.0.45"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "cfg-if"
+version = "0.1.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "compiler_builtins"
+version = "0.1.19"
+source = "git+https://github.com/rust-lang-nursery/compiler-builtins#1ac39708554b196f54ebc414f3e78574d40f2d8f"
+dependencies = [
+ "cc 1.0.45 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
 [[package]]
 name = "cortex-m"
 version = "0.5.10"
@@ -143,13 +148,14 @@ version = "1.0.0"
 dependencies = [
  "bare-metal 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
  "bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)",
- "btoi 0.4.1 (registry+https://github.com/rust-lang/crates.io-index)",
  "byteorder 1.3.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "compiler_builtins 0.1.19 (git+https://github.com/rust-lang-nursery/compiler-builtins)",
  "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-semihosting 0.3.5 (registry+https://github.com/rust-lang/crates.io-index)",
  "crc 1.8.1 (registry+https://github.com/rust-lang/crates.io-index)",
  "embedded-hal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "lexical-core 0.6.0 (git+https://github.com/astro/rust-lexical.git)",
  "libm 0.1.4 (registry+https://github.com/rust-lang/crates.io-index)",
  "nb 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)",
  "nom 5.0.1 (registry+https://github.com/rust-lang/crates.io-index)",
@@ -167,6 +173,16 @@ dependencies = [
  "winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "lexical-core"
+version = "0.6.0"
+source = "git+https://github.com/astro/rust-lexical.git#5b0ba2c0525c64911c74c16813ed3ac0dc0f157c"
+dependencies = [
+ "cfg-if 0.1.9 (registry+https://github.com/rust-lang/crates.io-index)",
+ "rustc_version 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
+ "static_assertions 0.3.4 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
 [[package]]
 name = "libm"
 version = "0.1.4"
@@ -196,14 +212,6 @@ dependencies = [
  "version_check 0.1.5 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
-[[package]]
-name = "num-traits"
-version = "0.2.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-dependencies = [
- "autocfg 0.1.6 (registry+https://github.com/rust-lang/crates.io-index)",
-]
-
 [[package]]
 name = "proc-macro2"
 version = "0.4.30"
@@ -291,6 +299,11 @@ name = "stable_deref_trait"
 version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
+[[package]]
+name = "static_assertions"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
 [[package]]
 name = "syn"
 version = "0.15.44"
@@ -369,13 +382,14 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 "checksum aligned 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "d39da9b88ae1a81c03c9c082b8db83f1d0e93914126041962af61034ab44c4a5"
 "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 autocfg 0.1.6 (registry+https://github.com/rust-lang/crates.io-index)" = "b671c8fb71b457dd4ae18c4ba1e59aa81793daacc361d82fcd410cef0d491875"
 "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 btoi 0.4.1 (registry+https://github.com/rust-lang/crates.io-index)" = "e4ced8205e70d9e553d008d53ded735808fa6133597318d48f74fc2bf9861471"
 "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 cc 1.0.45 (registry+https://github.com/rust-lang/crates.io-index)" = "4fc9a35e1f4290eb9e5fc54ba6cf40671ed2a2514c3eeb2b2a908dda2ea5a1be"
+"checksum cfg-if 0.1.9 (registry+https://github.com/rust-lang/crates.io-index)" = "b486ce3ccf7ffd79fdeb678eac06a9e6c09fc88d33836340becb8fffe87c5e33"
+"checksum compiler_builtins 0.1.19 (git+https://github.com/rust-lang-nursery/compiler-builtins)" = "<none>"
 "checksum cortex-m 0.5.10 (registry+https://github.com/rust-lang/crates.io-index)" = "3c0b159a1e8306949579de3698c841dba58058197b65c60807194e4fa1e7a554"
 "checksum cortex-m 0.6.1 (registry+https://github.com/rust-lang/crates.io-index)" = "145da2fc379bbd378ed425e75e1748214add9bbd800d4d5b77abb54ca423dbca"
 "checksum cortex-m-rt 0.6.10 (registry+https://github.com/rust-lang/crates.io-index)" = "17805910e3ecf029bdbfcc42b7384d9e3d9e5626153fa810002c1ef9839338ac"
@@ -385,12 +399,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 "checksum embedded-hal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "ee4908a155094da7723c2d60d617b820061e3b4efcc3d9e293d206a5a76c170b"
 "checksum generic-array 0.12.3 (registry+https://github.com/rust-lang/crates.io-index)" = "c68f0274ae0e023facc3c97b2e00f076be70e254bc851d972503b328db79b2ec"
 "checksum kernel32-sys 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "7507624b29483431c0ba2d82aece8ca6cdba9382bff4ddd0f7490560c056098d"
+"checksum lexical-core 0.6.0 (git+https://github.com/astro/rust-lexical.git)" = "<none>"
 "checksum libm 0.1.4 (registry+https://github.com/rust-lang/crates.io-index)" = "7fc7aa29613bd6a620df431842069224d8bc9011086b1db4c0e0cd47fa03ec9a"
 "checksum managed 0.5.1 (registry+https://github.com/rust-lang/crates.io-index)" = "43e2737ecabe4ae36a68061398bf27d2bfd0763f4c3c837a398478459494c4b7"
 "checksum memchr 2.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "88579771288728879b57485cc7d6b07d648c9f0141eb955f8ab7f9d45394468e"
 "checksum nb 0.1.2 (registry+https://github.com/rust-lang/crates.io-index)" = "b1411551beb3c11dedfb0a90a0fa256b47d28b9ec2cdff34c25a2fa59e45dbdc"
 "checksum nom 5.0.1 (registry+https://github.com/rust-lang/crates.io-index)" = "c618b63422da4401283884e6668d39f819a106ef51f5f59b81add00075da35ca"
-"checksum num-traits 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)" = "6ba9a427cfca2be13aa6f6403b0b7e7368fe982bfa16fccc450ce74c46cd9b32"
 "checksum proc-macro2 0.4.30 (registry+https://github.com/rust-lang/crates.io-index)" = "cf3d2011ab5c909338f7887f4fc896d35932e29146c12c8d01da6b22a80ba759"
 "checksum quote 0.6.13 (registry+https://github.com/rust-lang/crates.io-index)" = "6ce23b6b870e8f94f81fb0a363d65d86675884b34a09043c81e5562f11c1f8e1"
 "checksum r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
@@ -403,6 +417,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 "checksum semver-parser 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 "checksum smoltcp 0.4.0 (git+https://github.com/m-labs/smoltcp?rev=cd893e6)" = "<none>"
 "checksum stable_deref_trait 1.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "dba1a27d3efae4351c8051072d619e3ade2820635c3958d826bfea39d59b54c8"
+"checksum static_assertions 0.3.4 (registry+https://github.com/rust-lang/crates.io-index)" = "7f3eb36b47e512f8f1c9e3d10c2c1965bc992bd9cdb024fa581e2194501c83d3"
 "checksum syn 0.15.44 (registry+https://github.com/rust-lang/crates.io-index)" = "9ca4b3b69a77cbe1ffc9e198781b7acb0c7365a883670e8f1c1bc66fba79a5c5"
 "checksum tm4c129x 0.8.0 (registry+https://github.com/rust-lang/crates.io-index)" = "7d430ed4ed06dd9fff3d4517a37343e1b53789218f2f608bf1e0432f67abf624"
 "checksum typenum 1.11.2 (registry+https://github.com/rust-lang/crates.io-index)" = "6d2783fe2d6b8c1101136184eb41be8b1ad379e4657050b8aaff0c79ee7575f9"

firmware/Cargo.toml

@@ -19,7 +19,9 @@ cortex-m-semihosting = "0.3"
 byteorder = { version = "1.3", default-features = false }
 bit_field = "0.10"
 bare-metal = "0.2"
-btoi = { version = "~0.4", default-features = false }
+#lexical-core = { version = "~0.6", default-features = false }
+# TODO: pending https://github.com/Alexhuszagh/rust-lexical/pull/25
+lexical-core = { git = "https://github.com/astro/rust-lexical.git", default-features = false }
 nom = { version = "~5", default-features = false }
 
 [dependencies.smoltcp]
@@ -28,6 +30,11 @@ rev = "cd893e6"
 features = ["proto-ipv4", "socket-tcp"]
 default-features = false
 
+[dependencies.compiler_builtins]
+git = "https://github.com/rust-lang-nursery/compiler-builtins"
+default-features = false
+features = ["mem", "no-lang-items", "c"]
+
 [profile.release]
 lto = true
 debug = true

firmware/src/ad7172/adc.rs

@@ -2,7 +2,10 @@ use embedded_hal::digital::v2::OutputPin;
 use embedded_hal::blocking::spi::Transfer;
 use super::checksum::{ChecksumMode, Checksum};
 use super::AdcError;
-use super::{regs, regs::RegisterData, Input};
+use super::{
+    regs, regs::RegisterData,
+    Input, RefSource, PostFilter, DigitalFilterOrder,
+};
 
 /// AD7172-2 implementation
 ///
@@ -41,13 +44,27 @@ impl<SPI: Transfer<u8>, NSS: OutputPin> Adc<SPI, NSS> {
         Ok(())
     }
 
+    pub fn set_sync_enable(&mut self, enable: bool) -> Result<(), AdcError<SPI::Error>> {
+        self.update_reg(&regs::GpioCon, |data| {
+            data.set_sync_en(enable);
+        })
+    }
+
     pub fn setup_channel(
         &mut self, index: u8, in_pos: Input, in_neg: Input
     ) -> Result<(), AdcError<SPI::Error>> {
         self.update_reg(&regs::SetupCon { index }, |data| {
-            data.set_bi_unipolar(false);
+            data.set_bipolar(false);
+            data.set_refbuf_pos(true);
+            data.set_refbuf_neg(true);
+            data.set_ainbuf_pos(true);
+            data.set_ainbuf_neg(true);
+            data.set_ref_sel(RefSource::External);
         })?;
         self.update_reg(&regs::FiltCon { index }, |data| {
+            data.set_enh_filt_en(true);
+            data.set_enh_filt(PostFilter::F16SPS);
+            data.set_order(DigitalFilterOrder::Sinc5Sinc1);
             // 10 Hz data rate
             data.set_odr(0b10011);
         })?;

firmware/src/ad7172/mod.rs

@@ -113,9 +113,13 @@ impl fmt::Display for RefSource {
 
 #[repr(u8)]
 pub enum PostFilter {
+    /// 27 SPS, 47 dB rejection, 36.7 ms settling
     F27SPS = 0b010,
+    /// 21.25 SPS, 62 dB rejection, 40 ms settling
     F21SPS = 0b011,
+    /// 20 SPS, 86 dB rejection, 50 ms settling
     F20SPS = 0b101,
+    /// 16.67 SPS, 92 dB rejection, 60 ms settling
     F16SPS = 0b110,
     Invalid = 0b111,
 }

firmware/src/ad7172/regs.rs

@@ -152,6 +152,11 @@ impl data::Data {
     }
 }
 
+def_reg!(GpioCon, gpio_con, 0x06, 2);
+impl gpio_con::Data {
+    reg_bit!(sync_en, set_sync_en, 0, 3, "Enables the SYNC/ERROR pin as a sync input");
+}
+
 def_reg!(Id, id, 0x07, 2);
 impl id::Data {
     pub fn id(&self) -> u16 {
@@ -198,7 +203,7 @@ impl channel::Data {
 
 def_reg!(SetupCon, u8, setup_con, 0x20, 2);
 impl setup_con::Data {
-    reg_bit!(bi_unipolar, set_bi_unipolar, 0, 6, "Unipolar (`false`) or bipolar (`true`) coded output");
+    reg_bit!(bipolar, set_bipolar, 0, 6, "Unipolar (`false`) or bipolar (`true`) coded output");
     reg_bit!(refbuf_pos, set_refbuf_pos, 0, 5, "Enable REF+ input buffer");
     reg_bit!(refbuf_neg, set_refbuf_neg, 0, 5, "Enable REF- input buffer");
     reg_bit!(ainbuf_pos, set_ainbuf_pos, 0, 3, "Enable AIN+ input buffer");

firmware/src/command_parser.rs

@@ -2,14 +2,14 @@ use core::fmt;
 use nom::{
     IResult,
     branch::alt,
-    bytes::complete::{tag, take_while1},
+    bytes::complete::{is_a, tag, take_while1},
     character::{is_digit, complete::char},
     combinator::{map, value},
     sequence::preceded,
     multi::fold_many1,
     error::ErrorKind,
 };
-use btoi::{btoi, ParseIntegerError};
+use lexical_core as lexical;
 use super::session::ReportMode;
 
 
@@ -18,7 +18,7 @@ pub enum Error {
     Parser(ErrorKind),
     Incomplete,
     UnexpectedInput(u8),
-    ParseInteger(ParseIntegerError)
+    ParseNumber(lexical::Error)
 }
 
 impl<'t> From<nom::Err<(&'t [u8], ErrorKind)>> for Error {
@@ -34,9 +34,9 @@ impl<'t> From<nom::Err<(&'t [u8], ErrorKind)>> for Error {
     }
 }
 
-impl From<ParseIntegerError> for Error {
+impl From<lexical::Error> for Error {
-    fn from(e: ParseIntegerError) -> Self {
+    fn from(e: lexical::Error) -> Self {
-        Error::ParseInteger(e)
+        Error::ParseNumber(e)
     }
 }
 
@@ -53,9 +53,9 @@ impl fmt::Display for Error {
                 "parser: ".fmt(fmt)?;
                 (e as &dyn core::fmt::Debug).fmt(fmt)
             }
-            Error::ParseInteger(e) => {
+            Error::ParseNumber(e) => {
                 "parsing number: ".fmt(fmt)?;
-                e.fmt(fmt)
+                (e as &dyn core::fmt::Debug).fmt(fmt)
             }
         }
     }
@@ -98,9 +98,18 @@ fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
     fold_many1(char(' '), (), |(), _| ())(input)
 }
 
-fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u32, ParseIntegerError>> {
+fn unsigned(input: &[u8]) -> IResult<&[u8], Result<u32, lexical::Error>> {
     take_while1(is_digit)(input)
-        .map(|(input, digits)| (input, btoi(digits)))
+        .map(|(input, digits)| (input, lexical::parse(digits)))
+}
+
+fn float(input: &[u8]) -> IResult<&[u8], Result<f32, lexical::Error>> {
+    let (input, sign) = is_a("-")(input)?;
+    let negative = sign.len() > 0;
+    let (input, digits) = take_while1(|c| is_digit(c) || c == '.' as u8)(input)?;
+    let result = lexical::parse(digits)
+        .map(|result: f32| if negative { -result } else { result });
+    Ok((input, result))
 }
 
 fn report_mode(input: &[u8]) -> IResult<&[u8], ReportMode> {
@@ -165,9 +174,9 @@ fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
         ))(input)?;
     let (input, _) = whitespace(input)?;
     // TODO: parse float
-    let (input, value) = unsigned(input)?;
+    let (input, value) = float(input)?;
     let result = value
-        .map(|value| Command::Pid { parameter, value: value as f32  })
+        .map(|value| Command::Pid { parameter, value })
         .map_err(|e| e.into());
     Ok((input, result))
 }

firmware/src/main.rs

@@ -148,6 +148,7 @@ fn main() -> ! {
                 writeln!(stdout, "Corrupt ADC id: {:04X}", id).unwrap(),
         };
     }
+    adc.set_sync_enable(false).unwrap();
     // SENS0_{P,N}
     adc.setup_channel(0, ad7172::Input::Ain0, ad7172::Input::Ain1).unwrap();
     // SENS1_{P,N}

shell.nix

@@ -12,12 +12,14 @@ stdenv.mkDerivation {
   buildInputs = with rustPlatform.rust; [
     rustc cargo cargo-xbuild
     rustcSrc
+    pkgsCross.arm-embedded.stdenv.cc
     openocd
   ];
 
   # Set Environment Variables
   RUST_BACKTRACE = 1;
   XARGO_RUST_SRC = "${rustcSrc}/src";
+  RUST_COMPILER_RT_ROOT = "${rustcSrc}/src/llvm-project/compiler-rt";
 
   shellHook = ''
     echo "Run 'cargo xbuild --release' to build."