Merge branch 'feature/scan-mode' of github.com:quartiq/stabilizer into feature/scan-mode

Cargo.lock

@@ -38,7 +38,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b9a69a963b70ddacfcd382524f72a4576f359af9334b3bf48a79566590bb8bfa"
 dependencies = [
  "bitrate",
- "cortex-m 0.6.7",
+ "cortex-m 0.7.2",
  "embedded-hal",
 ]
 
@@ -432,6 +432,12 @@ dependencies = [
  "heapless 0.7.1",
 ]
 
+[[package]]
+name = "mutex-trait"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4bb1638d419e12f8b1c43d9e639abd0d1424285bdea2f76aa231e233c63cd3a"
+
 [[package]]
 name = "nanorand"
 version = "0.5.2"
@@ -778,6 +784,7 @@ dependencies = [
  "mcp23017",
  "miniconf",
  "minimq",
+ "mutex-trait",
  "nb 1.0.0",
  "num_enum",
  "paste",
@@ -803,7 +810,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b672c837e0ee8158ecc7fce0f9a948dd0693a9c588338e728d14b73307a0b7d"
 dependencies = [
  "bare-metal 0.2.5",
- "cortex-m 0.6.7",
+ "cortex-m 0.7.2",
  "cortex-m-rt",
  "vcell",
 ]

Cargo.toml

@@ -46,6 +46,7 @@ miniconf = "0.1.0"
 shared-bus = {version = "0.2.2", features = ["cortex-m"] }
 serde-json-core = "0.4"
 mcp23017 = "1.0"
+mutex-trait = "0.2"
 
 # rtt-target bump
 [dependencies.rtt-logger]

dsp/src/iir_int.rs

@@ -49,9 +49,9 @@ impl Coeff for Vec5 {
 #[derive(Copy, Clone, Default, Debug, MiniconfAtomic, Deserialize)]
 pub struct IIR {
     pub ba: Vec5,
-    // pub y_offset: i32,
+    pub y_offset: i32,
-    // pub y_min: i32,
+    pub y_min: i32,
-    // pub y_max: i32,
+    pub y_max: i32,
 }
 
 impl IIR {
@@ -76,9 +76,9 @@ impl IIR {
         // Store x0            x0 x1 x2 y1 y2
         xy[0] = x0;
         // Compute y0 by multiply-accumulate
-        let y0 = macc_i32(0, xy, &self.ba, IIR::SHIFT);
+        let y0 = macc_i32(self.y_offset, xy, &self.ba, IIR::SHIFT);
         // Limit y0
-        // let y0 = y0.max(self.y_min).min(self.y_max);
+        let y0 = y0.max(self.y_min).min(self.y_max);
         // Store y0            x0 x1 y0 y1 y2
         xy[n / 2] = y0;
         y0

dsp/src/lowpass.rs

@@ -25,7 +25,6 @@ impl<const N: usize> Lowpass<N> {
     /// Filtered output y.
     pub fn update(&mut self, x: i32, k: u8) -> i32 {
         debug_assert!(k & 31 == k);
-        debug_assert!((k - 1) & 31 == k - 1);
         // This is an unrolled and optimized first-order IIR loop
         // that works for all possible time constants.
         // Note T-DF-I and the zeros at Nyquist.
@@ -35,6 +34,6 @@ impl<const N: usize> Lowpass<N> {
             *y += dy;
             x = *y - (dy >> 1);
         }
-        x.saturating_add((self.y.len() as i32) << (k - 1))
+        x.saturating_add((self.y.len() as i32) << (k - 1).max(0))
     }
 }

dsp/src/unwrap.rs

@@ -70,7 +70,7 @@ impl Unwrapper {
 mod tests {
     use super::*;
     #[test]
-    fn mini() {
+    fn overflowing_sub_correctness() {
         for (x0, x1, v) in [
             (0i32, 0i32, 0i8),
             (0, 1, 0),
@@ -101,4 +101,42 @@ mod tests {
             assert_eq!(dx, dx0);
         }
     }
+
+    #[test]
+    fn saturating_scale_correctness() {
+        let shift = 8;
+        for (lo, hi, res) in [
+            (0i32, 0i32, 0i32),
+            (0, 1, 0x0100_0000),
+            (0, -1, -0x0100_0000),
+            (0x100, 0, 1),
+            (-1 << 31, 0, -1 << 23),
+            (0x7fffffff, 0, 0x007f_ffff),
+            (0x7fffffff, 1, 0x0017f_ffff),
+            (-0x7fffffff, -1, -0x0180_0000),
+            (0x1234_5600, 0x7f, 0x7f12_3456),
+            (0x1234_5600, -0x7f, -0x7f00_0000 + 0x12_3456),
+            (0, 0x7f, 0x7f00_0000),
+            (0, 0x80, 0x7fff_ff80),
+            (0, -0x7f, -0x7f00_0000),
+            (0, -0x80, -0x7fff_ff80),
+            (0x7fff_ffff, 0x7f, 0x7f7f_ffff),
+            (-0x8000_0000, 0x7f, 0x7e80_0000),
+            (-0x8000_0000, -0x7f, -0x7f80_0000),
+            (0x7fff_ffff, -0x7f, -0x7e80_0001),
+            (0x100, 0x7f, 0x7f00_0001),
+            (0, -0x80, -0x7fff_ff80),
+            (-1 << 31, 0x80, 0x7fff_ff80),
+            (-1 << 31, -0x80, -0x7fff_ff80),
+        ]
+        .iter()
+        {
+            let s = saturating_scale(*lo, *hi, shift);
+            assert_eq!(
+                *res, s,
+                "{:#x} != {:#x} = saturating_scale({:#x}, {:#x}, {:#x})",
+                *res, s, *lo, *hi, shift
+            );
+        }
+    }
 }

src/bin/dual-iir.rs

@@ -4,9 +4,10 @@
 
 use core::sync::atomic::{fence, Ordering};
 
+use mutex_trait::prelude::*;
+
 use dsp::iir;
 use stabilizer::{
-    flatten_closures,
     hardware::{
         self,
         adc::{Adc0Input, Adc1Input, AdcCode},
@@ -176,7 +177,7 @@ const APP: () = {
         let hold =
             settings.force_hold || (digital_inputs[1] && settings.allow_hold);
 
-        flatten_closures!(with_buffer, adc0, adc1, dac0, dac1, {
+        (adc0, adc1, dac0, dac1).lock(|adc0, adc1, dac0, dac1| {
             let adc_samples = [adc0, adc1];
             let dac_samples = [dac0, dac1];
 

src/bin/lockin.rs

@@ -4,9 +4,10 @@
 
 use core::sync::atomic::{fence, Ordering};
 
+use mutex_trait::prelude::*;
+
 use dsp::{Accu, Complex, ComplexExt, Lockin, RPLL};
 use stabilizer::{
-    flatten_closures,
     hardware::{
         self,
         adc::{Adc0Input, Adc1Input, AdcCode},
@@ -234,7 +235,7 @@ const APP: () = {
             reference_phase.wrapping_mul(settings.lockin_harmonic),
         );
 
-        flatten_closures!(with_buffer, adc0, adc1, dac0, dac1, {
+        (adc0, adc1, dac0, dac1).lock(|adc0, adc1, dac0, dac1| {
             let adc_samples = [adc0, adc1];
             let mut dac_samples = [dac0, dac1];
 

src/hardware/adc.rs

@@ -67,6 +67,8 @@
 ///! buffer mode DMA disable/enable and buffer update sequence is slow.
 use stm32h7xx_hal as hal;
 
+use mutex_trait::Mutex;
+
 use super::design_parameters::{SampleBuffer, SAMPLE_BUFFER_SIZE};
 use super::timers;
 
@@ -367,6 +369,15 @@ macro_rules! adc_input {
                     unsafe { self.transfer.next_dbm_transfer_with(|buf, _current| f(buf)) }
                 }
             }
+
+            // This is not actually a Mutex. It only re-uses the semantics and macros of mutex-trait
+            // to reduce rightward drift when jointly calling `with_buffer(f)` on multiple DAC/ADCs.
+            impl Mutex for $name {
+                type Data = SampleBuffer;
+                fn lock<R>(&mut self, f: impl FnOnce(&mut Self::Data) -> R) -> R {
+                    self.with_buffer(f).unwrap()
+                }
+            }
         }
     };
 }

src/hardware/dac.rs

@@ -52,6 +52,8 @@
 ///! served promptly after the transfer completes.
 use stm32h7xx_hal as hal;
 
+use mutex_trait::Mutex;
+
 use super::design_parameters::{SampleBuffer, SAMPLE_BUFFER_SIZE};
 use super::timers;
 
@@ -242,6 +244,15 @@ macro_rules! dac_output {
                 }
             }
         }
+
+        // This is not actually a Mutex. It only re-uses the semantics and macros of mutex-trait
+        // to reduce rightward drift when jointly calling `with_buffer(f)` on multiple DAC/ADCs.
+        impl Mutex for $name {
+            type Data = SampleBuffer;
+            fn lock<R>(&mut self, f: impl FnOnce(&mut Self::Data) -> R) -> R {
+                self.with_buffer(f).unwrap()
+            }
+        }
     };
 }
 

src/hardware/setup.rs

@@ -1,6 +1,8 @@
 ///! Stabilizer hardware configuration
 ///!
 ///! This file contains all of the hardware-specific configuration of Stabilizer.
+use core::sync::atomic::{self, AtomicBool, Ordering};
+use core::{ptr, slice};
 use stm32h7xx_hal::{
     self as hal,
     ethernet::{self, PHY},
@@ -149,8 +151,6 @@ fn load_itcm() {
         static mut __eitcm: u32;
         static mut __siitcm: u32;
     }
-    use core::{ptr, slice, sync::atomic};
-
     // NOTE(unsafe): Assuming the address symbols from the linker as well as
     // the source instruction data are all valid, this is safe as it only
     // copies linker-prepared data to where the code expects it to be.
@@ -163,7 +163,7 @@ fn load_itcm() {
         ptr::write_volatile(ITCMCR, ptr::read_volatile(ITCMCR) | 1);
 
         // Ensure ITCM is enabled before loading.
-        atomic::fence(atomic::Ordering::SeqCst);
+        atomic::fence(Ordering::SeqCst);
 
         let len =
             (&__eitcm as *const u32).offset_from(&__sitcm as *const _) as usize;
@@ -174,7 +174,7 @@ fn load_itcm() {
     }
 
     // Ensure ITCM is loaded before potentially executing any instructions from it.
-    atomic::fence(atomic::Ordering::SeqCst);
+    atomic::fence(Ordering::SeqCst);
     cortex_m::asm::dsb();
     cortex_m::asm::isb();
 }
@@ -224,10 +224,38 @@ pub fn setup(
         // Enable debug during WFE/WFI-induced sleep
         device.DBGMCU.cr.modify(|_, w| w.dbgsleep_d1().set_bit());
 
-        use rtt_logger::RTTLogger;
+        // Set up RTT channel to use for `rprintln!()` as "best effort".
+        // This removes a critical section around the logging and thus allows
+        // high-prio tasks to always interrupt at low latency.
+        // It comes at a cost:
+        // If a high-priority tasks preempts while we are logging something,
+        // and if we then also want to log from within that high-preiority task,
+        // the high-prio log message will be lost.
 
-        static LOGGER: RTTLogger = RTTLogger::new(log::LevelFilter::Info);
+        let channels = rtt_target::rtt_init_default!();
-        rtt_target::rtt_init_print!();
+        // Note(unsafe): The closure we pass does not establish a critical section
+        // as demanded but it does ensure synchronization and implements a lock.
+        unsafe {
+            rtt_target::set_print_channel_cs(
+                channels.up.0,
+                &((|arg, f| {
+                    static LOCKED: AtomicBool = AtomicBool::new(false);
+                    if LOCKED.compare_exchange_weak(
+                        false,
+                        true,
+                        Ordering::Acquire,
+                        Ordering::Relaxed,
+                    ) == Ok(false)
+                    {
+                        f(arg);
+                        LOCKED.store(false, Ordering::Release);
+                    }
+                }) as rtt_target::CriticalSectionFunc),
+            );
+        }
+
+        static LOGGER: rtt_logger::RTTLogger =
+            rtt_logger::RTTLogger::new(log::LevelFilter::Info);
         log::set_logger(&LOGGER)
             .map(|()| log::set_max_level(log::LevelFilter::Trace))
             .unwrap();

src/lib.rs

@@ -3,16 +3,3 @@
 
 pub mod hardware;
 pub mod net;
-
-/// Macro to reduce rightward drift when calling the same closure-based API
-/// on multiple structs simultaneously, e.g. when accessing DMA buffers.
-/// This could be improved a bit using the tuple-based style from `mutex-trait`.
-#[macro_export]
-macro_rules! flatten_closures {
-    ($fn:ident, $e:ident, $fun:block) => {
-        $e.$fn(|$e| $fun ).unwrap()
-    };
-    ($fn:ident, $e:ident, $($es:ident),+, $fun:block) => {
-        $e.$fn(|$e| flatten_closures!($fn, $($es),*, $fun)).unwrap()
-    };
-}

src/net/data_stream.rs

@@ -30,21 +30,12 @@ const BLOCK_BUFFER_SIZE: usize = 30;
 const SUBSAMPLE_RATE: usize = 1;
 
 /// Represents the destination for the UDP stream to send data to.
-#[derive(Copy, Clone, Debug, MiniconfAtomic, Deserialize)]
+#[derive(Copy, Clone, Debug, MiniconfAtomic, Deserialize, Default)]
 pub struct StreamTarget {
     pub ip: [u8; 4],
     pub port: u16,
 }
 
-impl Default for StreamTarget {
-    fn default() -> Self {
-        Self {
-            ip: [0; 4],
-            port: 0,
-        }
-    }
-}
-
 impl From<StreamTarget> for SocketAddr {
     fn from(target: StreamTarget) -> SocketAddr {
         SocketAddr::new(
@@ -271,30 +262,28 @@ impl DataStream {
     }
 
     fn close(&mut self) {
+        if let Some(socket) = self.socket.take() {
+            log::info!("Closing stream");
             // Note(unwrap): We guarantee that the socket is available above.
-        let socket = self.socket.take().unwrap();
             self.stack.close(socket).unwrap();
         }
-
-    fn open(&mut self, remote: SocketAddr) -> Result<(), ()> {
-        if self.socket.is_some() {
-            self.close();
-        }
-
-        // If the remote address is unspecified, just close the existing socket.
-        if remote.ip().is_unspecified() {
-            if self.socket.is_some() {
-                self.close();
     }
 
+    // Open new socket.
+    fn open(&mut self) -> Result<(), ()> {
+        // If there is already a socket of if remote address is unspecified,
+        // do not open a new socket.
+        if self.socket.is_some() || self.remote.ip().is_unspecified() {
             return Err(());
         }
 
-        let mut socket = self.stack.socket().map_err(|_| ())?;
+        log::info!("Opening stream");
+
+        let mut socket = self.stack.socket().or(Err(()))?;
 
         // Note(unwrap): We only connect with a new socket, so it is guaranteed to not already be
         // bound.
-        self.stack.connect(&mut socket, remote).unwrap();
+        self.stack.connect(&mut socket, self.remote).unwrap();
 
         self.socket.replace(socket);
 
@@ -306,48 +295,43 @@ impl DataStream {
     /// # Args
     /// * `remote` - The destination to send stream data to.
     pub fn set_remote(&mut self, remote: SocketAddr) {
-        // If the remote is identical to what we already have, do nothing.
+        // Close socket to be reopened if the remote has changed.
-        if remote == self.remote {
+        if remote != self.remote {
-            return;
+            self.close();
         }
-
-        // Open the new remote connection.
-        self.open(remote).ok();
         self.remote = remote;
     }
 
     /// Process any data for transmission.
     pub fn process(&mut self) {
+        match self.socket.as_mut() {
+            None => {
                 // If there's no socket available, try to connect to our remote.
-        if self.socket.is_none() {
+                if self.open().is_ok() {
-            // If we can't open the socket (e.g. we do not have an IP address yet), clear data from
+                    // If we just successfully opened the socket, flush old data from queue.
-            // the queue.
+                    while self.queue.dequeue().is_some() {}
-            if self.open(self.remote).is_err() {
-                while self.queue.ready() {
-                    self.queue.dequeue();
-                }
-                return;
                 }
             }
-
+            Some(handle) => {
                 if self.queue.ready() {
                     // Dequeue data from the queue into a larger block structure.
-            let mut packet = DataPacket::new(&mut self.buffer, SUBSAMPLE_RATE);
+                    let mut packet =
-            while self.queue.ready() {
+                        DataPacket::new(&mut self.buffer, SUBSAMPLE_RATE);
-                // Note(unwrap): We check above that the queue is ready before calling this.
+                    while self
-                if packet.add_batch(self.queue.peek().unwrap()).is_err() {
+                        .queue
-                    // If we cannot add another batch, break out of the loop and send the packet.
+                        .peek()
-                    break;
+                        .and_then(|batch| packet.add_batch(batch).ok())
-                }
+                        .is_some()
-
+                    {
-                // Remove the batch that we just added.
+                        // Dequeue the batch that we just added to the packet.
                         self.queue.dequeue();
                     }
 
-            // Transmit the data block.
+                    // Transmit the data packet.
-            let mut handle = self.socket.as_mut().unwrap();
                     let size = packet.finish();
-            self.stack.send(&mut handle, &self.buffer[..size]).ok();
+                    self.stack.send(handle, &self.buffer[..size]).ok();
+                }
+            }
         }
     }
 }

src/net/miniconf_client.rs

@@ -80,6 +80,7 @@ where
         // If we're no longer subscribed to the settings topic, but we are connected to the broker,
         // resubscribe.
         if !self.subscribed && mqtt_connected {
+            log::info!("MQTT connected, subscribing to settings");
             // Note(unwrap): We construct a string with two more characters than the prefix
             // strucutre, so we are guaranteed to have space for storage.
             let mut settings_topic: String<66> =
@@ -115,6 +116,8 @@ where
                 }
             };
 
+            log::info!("Settings update: `{}`", path);
+
             let message: SettingsResponse = settings
                 .string_set(path.split('/').peekable(), message)
                 .map(|_| {
@@ -140,13 +143,13 @@ where
             Ok(_) if update => UpdateState::Updated,
             Ok(_) => UpdateState::NoChange,
             Err(minimq::Error::SessionReset) => {
+                log::warn!("Settings MQTT session reset");
                 self.subscribed = false;
                 UpdateState::NoChange
             }
             Err(minimq::Error::Network(
                 smoltcp_nal::NetworkError::NoIpAddress,
             )) => UpdateState::NoChange,
-
             Err(error) => {
                 log::info!("Unexpected error: {:?}", error);
                 UpdateState::NoChange

src/net/network_processor.rs

@@ -45,12 +45,16 @@ impl NetworkProcessor {
     pub fn handle_link(&mut self) {
         // If the PHY indicates there's no more ethernet link, reset the DHCP server in the network
         // stack.
-        match self.phy.poll_link() {
+        let link_up = self.phy.poll_link();
-            true => self.network_was_reset = false,
+        match (link_up, self.network_was_reset) {
-
+            (true, true) => {
+                log::warn!("Network link UP");
+                self.network_was_reset = false;
+            }
             // Only reset the network stack once per link reconnection. This prevents us from
             // sending an excessive number of DHCP requests.
-            false if !self.network_was_reset => {
+            (false, false) => {
+                log::warn!("Network link DOWN");
                 self.network_was_reset = true;
                 self.stack.lock(|stack| stack.handle_link_reset());
             }