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Updating structure, adding DMA triggered transfers

master
Ryan Summers 2020-06-08 18:11:14 +02:00
parent 4dcf2b57bd
commit 0815a4cff5
5 changed files with 130 additions and 213 deletions
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10
Cargo.toml
View File

@ -5,3 +5,13 @@ members = [
"stm32h7xx-hal", "stm32h7xx-hal",
"ad9959", "ad9959",
] ]
[profile.dev]
codegen-units = 1
incremental = false
opt-level = 3
[profile.release]
debug = true
lto = true
codegen-units = 1

3
stabilizer/openocd.gdb → openocd.gdb
View File

@ -16,7 +16,7 @@ break rust_begin_unwind
load load
# tbreak cortex_m_rt::reset_handler # tbreak cortex_m_rt::reset_handler
# monitor reset halt monitor reset halt
# cycle counter delta tool, place two bkpts around the section # cycle counter delta tool, place two bkpts around the section
set var $cc=0xe0001004 set var $cc=0xe0001004
@ -26,4 +26,3 @@ set var $t0=*$cc
continue continue
end end
#set var $t0=*$cc #set var $t0=*$cc
continue

9
stabilizer/Cargo.toml
View File

@ -65,12 +65,3 @@ semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
bkpt = [ ] bkpt = [ ]
nightly = ["cortex-m/inline-asm"] nightly = ["cortex-m/inline-asm"]
[profile.dev]
codegen-units = 1
incremental = false
opt-level = 3
[profile.release]
debug = true
lto = true
codegen-units = 1

319
stabilizer/src/main.rs
View File

@ -1,4 +1,4 @@
#![deny(warnings)] //#![deny(warnings)]
#![allow(clippy::missing_safety_doc)] #![allow(clippy::missing_safety_doc)]
#![no_std] #![no_std]
#![no_main] #![no_main]
@ -114,85 +114,6 @@ type AFE2 = afe::ProgrammableGainAmplifier<
hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>>; hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>>;
fn dma1_setup(
dma1: &pac::DMA1,
dmamux1: &pac::DMAMUX1,
ma: usize,
pa0: usize,
pa1: usize,
) {
dma1.st[0].cr.modify(|_, w| w.en().clear_bit());
while dma1.st[0].cr.read().en().bit_is_set() {}
dma1.st[0].par.write(|w| unsafe { w.bits(pa0 as u32) });
dma1.st[0].m0ar.write(|w| unsafe { w.bits(ma as u32) });
dma1.st[0].ndtr.write(|w| w.ndt().bits(1));
dmamux1.ccr[0].modify(|_, w| w.dmareq_id().tim2_up());
dma1.st[0].cr.modify(|_, w| {
w.pl()
.medium()
.circ()
.enabled()
.msize()
.bits32()
.minc()
.fixed()
.mburst()
.single()
.psize()
.bits32()
.pinc()
.fixed()
.pburst()
.single()
.dbm()
.disabled()
.dir()
.memory_to_peripheral()
.pfctrl()
.dma()
});
dma1.st[0].fcr.modify(|_, w| w.dmdis().clear_bit());
dma1.st[0].cr.modify(|_, w| w.en().set_bit());
dma1.st[1].cr.modify(|_, w| w.en().clear_bit());
while dma1.st[1].cr.read().en().bit_is_set() {}
dma1.st[1].par.write(|w| unsafe { w.bits(pa1 as u32) });
dma1.st[1].m0ar.write(|w| unsafe { w.bits(ma as u32) });
dma1.st[1].ndtr.write(|w| w.ndt().bits(1));
dmamux1.ccr[1].modify(|_, w| w.dmareq_id().tim2_up());
dma1.st[1].cr.modify(|_, w| {
w.pl()
.medium()
.circ()
.enabled()
.msize()
.bits32()
.minc()
.fixed()
.mburst()
.single()
.psize()
.bits32()
.pinc()
.fixed()
.pburst()
.single()
.dbm()
.disabled()
.dir()
.memory_to_peripheral()
.pfctrl()
.dma()
});
dma1.st[1].fcr.modify(|_, w| w.dmdis().clear_bit());
dma1.st[1].cr.modify(|_, w| w.en().set_bit());
}
#[rtfm::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtfm::cyccnt::CYCCNT)] #[rtfm::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtfm::cyccnt::CYCCNT)]
const APP: () = { const APP: () = {
struct Resources { struct Resources {
@ -206,15 +127,13 @@ const APP: () = {
eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>, eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>,
dbg_pin: hal::gpio::gpioc::PC6<hal::gpio::Output<hal::gpio::PushPull>>,
dac_pin: hal::gpio::gpiob::PB15<hal::gpio::Output<hal::gpio::PushPull>>,
timer: hal::timer::Timer<hal::stm32::TIM2>, timer: hal::timer::Timer<hal::stm32::TIM2>,
net_interface: net::iface::EthernetInterface<'static, 'static, 'static, net_interface: net::iface::EthernetInterface<'static, 'static, 'static,
ethernet::EthernetDMA<'static>>, ethernet::EthernetDMA<'static>>,
_eth_mac: ethernet::EthernetMAC, _eth_mac: ethernet::EthernetMAC,
mac_addr: net::wire::EthernetAddress, mac_addr: net::wire::EthernetAddress,
pounder: pounder::PounderDevices<asm_delay::AsmDelay>, //pounder: pounder::PounderDevices<asm_delay::AsmDelay>,
#[init([[0.; 5]; 2])] #[init([[0.; 5]; 2])]
iir_state: [IIRState; 2], iir_state: [IIRState; 2],
@ -282,8 +201,9 @@ const APP: () = {
}) })
.communication_mode(hal::spi::CommunicationMode::Receiver) .communication_mode(hal::spi::CommunicationMode::Receiver)
.manage_cs() .manage_cs()
.cs_delay(220e-9) .transfer_size(1)
.frame_size(16); .frame_size(16)
.cs_delay(220e-9);
let mut spi = dp.SPI2.spi( let mut spi = dp.SPI2.spi(
(spi_sck, spi_miso, hal::spi::NoMosi), (spi_sck, spi_miso, hal::spi::NoMosi),
@ -291,7 +211,7 @@ const APP: () = {
50.mhz(), 50.mhz(),
&clocks); &clocks);
spi.listen(hal::spi::Event::Rxp); spi.listen(hal::spi::Event::Eot);
spi spi
}; };
@ -308,21 +228,24 @@ const APP: () = {
}) })
.communication_mode(hal::spi::CommunicationMode::Receiver) .communication_mode(hal::spi::CommunicationMode::Receiver)
.manage_cs() .manage_cs()
.transfer_size(1)
.frame_size(16) .frame_size(16)
.cs_delay(220e-9); .cs_delay(220e-9);
let spi = dp.SPI3.spi( let mut spi = dp.SPI3.spi(
(spi_sck, spi_miso, hal::spi::NoMosi), (spi_sck, spi_miso, hal::spi::NoMosi),
config, config,
50.mhz(), 50.mhz(),
&clocks); &clocks);
spi.listen(hal::spi::Event::Eot);
spi spi
}; };
let dac1_spi = { let dac1_spi = {
let spi_miso = gpioe.pe5.into_alternate_af5(); let spi_miso = gpioe.pe5.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
let spi_sck = gpioe.pe2.into_alternate_af5(); let spi_sck = gpioe.pe2.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
let _spi_nss = gpioe.pe4.into_alternate_af5(); let _spi_nss = gpioe.pe4.into_alternate_af5();
let config = hal::spi::Config::new(hal::spi::Mode{ let config = hal::spi::Config::new(hal::spi::Mode{
@ -331,15 +254,17 @@ const APP: () = {
}) })
.communication_mode(hal::spi::CommunicationMode::Transmitter) .communication_mode(hal::spi::CommunicationMode::Transmitter)
.manage_cs() .manage_cs()
.transfer_size(1)
.frame_size(16) .frame_size(16)
.swap_mosi_miso(); .swap_mosi_miso();
dp.SPI4.spi((spi_sck, spi_miso, hal::spi::NoMosi), config, 50.mhz(), &clocks) let spi = dp.SPI4.spi((spi_sck, spi_miso, hal::spi::NoMosi), config, 50.mhz(), &clocks);
spi
}; };
let dac2_spi = { let dac2_spi = {
let spi_miso = gpiof.pf8.into_alternate_af5(); let spi_miso = gpiof.pf8.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
let spi_sck = gpiof.pf7.into_alternate_af5(); let spi_sck = gpiof.pf7.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
let _spi_nss = gpiof.pf6.into_alternate_af5(); let _spi_nss = gpiof.pf6.into_alternate_af5();
let config = hal::spi::Config::new(hal::spi::Mode{ let config = hal::spi::Config::new(hal::spi::Mode{
@ -348,93 +273,96 @@ const APP: () = {
}) })
.communication_mode(hal::spi::CommunicationMode::Transmitter) .communication_mode(hal::spi::CommunicationMode::Transmitter)
.manage_cs() .manage_cs()
.transfer_size(1)
.frame_size(16) .frame_size(16)
.swap_mosi_miso(); .swap_mosi_miso();
dp.SPI5.spi((spi_sck, spi_miso, hal::spi::NoMosi), config, 50.mhz(), &clocks) let spi = dp.SPI5.spi((spi_sck, spi_miso, hal::spi::NoMosi), config, 50.mhz(), &clocks);
spi
}; };
let pounder_devices = { // let pounder_devices = {
let ad9959 = { // let ad9959 = {
let qspi_interface = { // let qspi_interface = {
// Instantiate the QUADSPI pins and peripheral interface. // // Instantiate the QUADSPI pins and peripheral interface.
// TODO: Place these into a pins structure that is provided to the QSPI // // TODO: Place these into a pins structure that is provided to the QSPI
// constructor. // // constructor.
let _qspi_clk = gpiob.pb2.into_alternate_af9(); // let _qspi_clk = gpiob.pb2.into_alternate_af9();
let _qspi_ncs = gpioc.pc11.into_alternate_af9(); // let _qspi_ncs = gpioc.pc11.into_alternate_af9();
let _qspi_io0 = gpioe.pe7.into_alternate_af10(); // let _qspi_io0 = gpioe.pe7.into_alternate_af10();
let _qspi_io1 = gpioe.pe8.into_alternate_af10(); // let _qspi_io1 = gpioe.pe8.into_alternate_af10();
let _qspi_io2 = gpioe.pe9.into_alternate_af10(); // let _qspi_io2 = gpioe.pe9.into_alternate_af10();
let _qspi_io3 = gpioe.pe10.into_alternate_af10(); // let _qspi_io3 = gpioe.pe10.into_alternate_af10();
let qspi = hal::qspi::Qspi::new(dp.QUADSPI, &mut clocks, 10.mhz()).unwrap(); // let qspi = hal::qspi::Qspi::new(dp.QUADSPI, &mut clocks, 10.mhz()).unwrap();
pounder::QspiInterface::new(qspi).unwrap() // pounder::QspiInterface::new(qspi).unwrap()
}; // };
let mut reset_pin = gpioa.pa0.into_push_pull_output(); // let mut reset_pin = gpioa.pa0.into_push_pull_output();
let io_update = gpiog.pg7.into_push_pull_output(); // let io_update = gpiog.pg7.into_push_pull_output();
let asm_delay = { // let asm_delay = {
let frequency_hz = clocks.clocks.c_ck().0; // let frequency_hz = clocks.clocks.c_ck().0;
asm_delay::AsmDelay::new(asm_delay::bitrate::Hertz (frequency_hz)) // asm_delay::AsmDelay::new(asm_delay::bitrate::Hertz (frequency_hz))
}; // };
ad9959::Ad9959::new(qspi_interface, // ad9959::Ad9959::new(qspi_interface,
&mut reset_pin, // &mut reset_pin,
io_update, // io_update,
asm_delay, // asm_delay,
ad9959::Mode::FourBitSerial, // ad9959::Mode::FourBitSerial,
100_000_000, // 100_000_000,
5).unwrap() // 5).unwrap()
}; // };
let io_expander = { // let io_expander = {
let sda = gpiob.pb7.into_alternate_af4().set_open_drain(); // let sda = gpiob.pb7.into_alternate_af4().set_open_drain();
let scl = gpiob.pb8.into_alternate_af4().set_open_drain(); // let scl = gpiob.pb8.into_alternate_af4().set_open_drain();
let i2c1 = dp.I2C1.i2c((scl, sda), 100.khz(), &clocks); // let i2c1 = dp.I2C1.i2c((scl, sda), 100.khz(), &clocks);
mcp23017::MCP23017::default(i2c1).unwrap() // mcp23017::MCP23017::default(i2c1).unwrap()
}; // };
let spi = { // let spi = {
let spi_mosi = gpiod.pd7.into_alternate_af5(); // let spi_mosi = gpiod.pd7.into_alternate_af5();
let spi_miso = gpioa.pa6.into_alternate_af5(); // let spi_miso = gpioa.pa6.into_alternate_af5();
let spi_sck = gpiog.pg11.into_alternate_af5(); // let spi_sck = gpiog.pg11.into_alternate_af5();
let config = hal::spi::Config::new(hal::spi::Mode{ // let config = hal::spi::Config::new(hal::spi::Mode{
polarity: hal::spi::Polarity::IdleHigh, // polarity: hal::spi::Polarity::IdleHigh,
phase: hal::spi::Phase::CaptureOnSecondTransition, // phase: hal::spi::Phase::CaptureOnSecondTransition,
}) // })
.frame_size(8); // .frame_size(8);
dp.SPI1.spi((spi_sck, spi_miso, spi_mosi), config, 25.mhz(), &clocks) // dp.SPI1.spi((spi_sck, spi_miso, spi_mosi), config, 25.mhz(), &clocks)
}; // };
let adc1 = { // let adc1 = {
let mut adc = dp.ADC1.adc(&mut delay, &mut clocks); // let mut adc = dp.ADC1.adc(&mut delay, &mut clocks);
adc.calibrate(); // adc.calibrate();
adc.enable() // adc.enable()
}; // };
let adc2 = { // let adc2 = {
let mut adc = dp.ADC2.adc(&mut delay, &mut clocks); // let mut adc = dp.ADC2.adc(&mut delay, &mut clocks);
adc.calibrate(); // adc.calibrate();
adc.enable() // adc.enable()
}; // };
let adc1_in_p = gpiof.pf11.into_analog(); // let adc1_in_p = gpiof.pf11.into_analog();
let adc2_in_p = gpiof.pf14.into_analog(); // let adc2_in_p = gpiof.pf14.into_analog();
pounder::PounderDevices::new(io_expander, // pounder::PounderDevices::new(io_expander,
ad9959, // ad9959,
spi, // spi,
adc1, // adc1,
adc2, // adc2,
adc1_in_p, // adc1_in_p,
adc2_in_p).unwrap() // adc2_in_p).unwrap()
}; // };
let mut fp_led_0 = gpiod.pd5.into_push_pull_output(); let mut fp_led_0 = gpiod.pd5.into_push_pull_output();
let mut fp_led_1 = gpiod.pd6.into_push_pull_output(); let mut fp_led_1 = gpiod.pd6.into_push_pull_output();
@ -514,21 +442,24 @@ const APP: () = {
// Utilize the cycle counter for RTFM scheduling. // Utilize the cycle counter for RTFM scheduling.
cp.DWT.enable_cycle_counter(); cp.DWT.enable_cycle_counter();
let mut debug_pin = gpioc.pc6.into_push_pull_output(); let mut dma = hal::dma::Dma::dma(dp.DMA1, dp.DMAMUX1, &clocks);
debug_pin.set_low().unwrap(); dma.configure_m2p_stream(hal::dma::Stream::One,
&SPI_START_CODE as *const _ as u32,
&adc1_spi.spi.cr1 as *const _ as u32,
hal::dma::DMAREQ_ID::TIM2_CH1);
let mut dac_pin = gpiob.pb15.into_push_pull_output(); dma.configure_m2p_stream(hal::dma::Stream::Two,
dac_pin.set_low().unwrap(); &SPI_START_CODE as *const _ as u32,
&adc2_spi.spi.cr1 as *const _ as u32,
hal::dma::DMAREQ_ID::TIM2_CH2);
// Configure timer 2 to trigger conversions for the ADC // Configure timer 2 to trigger conversions for the ADC
let mut timer2 = dp.TIM2.timer(500.khz(), &mut clocks); let mut timer2 = dp.TIM2.timer(500.khz(), &mut clocks);
timer2.listen(hal::timer::Event::TimeOut); timer2.configure_channel(hal::timer::Channel::One, 0.25);
timer2.configure_channel(hal::timer::Channel::Two, 0.75);
dma1_setup(&dp.DMA1, timer2.listen(hal::timer::Event::ChannelOneDma);
&dp.DMAMUX1, timer2.listen(hal::timer::Event::ChannelTwoDma);
&SPI_START_CODE as *const _ as usize,
&adc1_spi.spi.cr1 as *const _ as usize,
&adc2_spi.spi.cr1 as *const _ as usize);
init::LateResources { init::LateResources {
adc1: adc1_spi, adc1: adc1_spi,
@ -538,10 +469,8 @@ const APP: () = {
_afe1: afe1, _afe1: afe1,
_afe2: afe2, _afe2: afe2,
dbg_pin: debug_pin,
dac_pin: dac_pin,
timer: timer2, timer: timer2,
pounder: pounder_devices, //pounder: pounder_devices,
eeprom_i2c: eeprom_i2c, eeprom_i2c: eeprom_i2c,
net_interface: network_interface, net_interface: network_interface,
@ -550,46 +479,34 @@ const APP: () = {
} }
} }
#[task(binds = TIM2, resources = [dbg_pin, timer, adc1, adc2])] #[task(binds = SPI3, resources = [adc2, dac2, iir_state, iir_ch], priority = 2)]
fn tim2(mut c: tim2::Context) { fn spi3(c: spi3::Context) {
c.resources.timer.clear_uif_bit(); c.resources.adc2.spi.ifcr.write(|w| w.eotc().set_bit());
c.resources.dbg_pin.set_high().unwrap();
// Start a SPI transaction on ADC0 and ADC1 let output: u16 = {
c.resources.adc1.lock(|adc| adc.spi.cr1.modify(|_, w| w.cstart().set_bit())); let a: u16 = c.resources.adc2.read().unwrap();
c.resources.adc2.lock(|adc| adc.spi.cr1.modify(|_, w| w.cstart().set_bit())); let x0 = f32::from(a as i16);
let y0 = c.resources.iir_ch[1].update(&mut c.resources.iir_state[1], x0);
y0 as i16 as u16 ^ 0x8000
};
c.resources.dbg_pin.set_low().unwrap(); c.resources.dac2.spi.ifcr.write(|w| w.eotc().set_bit().txtfc().set_bit());
c.resources.dac2.send(output).unwrap();
} }
#[task(binds = SPI2, resources = [adc1, dac1, adc2, dac2, iir_state, iir_ch, dac_pin], priority = 2)] #[task(binds = SPI2, resources = [adc1, dac1, iir_state, iir_ch], priority = 2)]
fn adc_spi(c: adc_spi::Context) { fn spi2(c: spi2::Context) {
#[cfg(feature = "bkpt")] c.resources.adc1.spi.ifcr.write(|w| w.eotc().set_bit());
cortex_m::asm::bkpt();
c.resources.dac_pin.set_high().unwrap(); let output: u16 = {
let output_ch1 = {
let a: u16 = c.resources.adc1.read().unwrap(); let a: u16 = c.resources.adc1.read().unwrap();
let x0 = f32::from(a as i16); let x0 = f32::from(a as i16);
let y0 = c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0); let y0 = c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0);
y0 as i16 as u16 ^ 0x8000 y0 as i16 as u16 ^ 0x8000
}; };
c.resources.adc1.spi.ifcr.write(|w| w.eotc().set_bit());
c.resources.dac1.send(output_ch1).unwrap();
let output_ch2 = { c.resources.dac1.spi.ifcr.write(|w| w.eotc().set_bit().txtfc().set_bit());
let a: u16 = nb::block!(c.resources.adc2.read()).unwrap(); c.resources.dac1.send(output).unwrap();
let x0 = f32::from(a as i16);
let y0 = c.resources.iir_ch[1].update(&mut c.resources.iir_state[1], x0);
y0 as i16 as u16 ^ 0x8000
};
c.resources.adc2.spi.ifcr.write(|w| w.eotc().set_bit());
c.resources.dac2.send(output_ch2).unwrap();
c.resources.dac_pin.set_low().unwrap();
#[cfg(feature = "bkpt")]
cortex_m::asm::bkpt();
} }
#[idle(resources=[net_interface, mac_addr, iir_state, iir_ch])] #[idle(resources=[net_interface, mac_addr, iir_state, iir_ch])]

2
stm32h7xx-hal

@ -1 +1 @@
Subproject commit ba7d21a018752c2cf9303470badfa8dbf14dc3aa Subproject commit 2236b578b48aa195679dd65515f595f491f88513