Updating stabilizer devices to utilize 0-based indexing
parent
fa7037ac0b
commit
093dca5928
99
src/main.rs
99
src/main.rs
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@ -96,12 +96,12 @@ const SPI_START_CODE: u32 = 0x201;
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const TCP_RX_BUFFER_SIZE: usize = 8192;
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const TCP_TX_BUFFER_SIZE: usize = 8192;
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type AFE1 = afe::ProgrammableGainAmplifier<
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type AFE0 = afe::ProgrammableGainAmplifier<
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hal::gpio::gpiof::PF2<hal::gpio::Output<hal::gpio::PushPull>>,
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hal::gpio::gpiof::PF5<hal::gpio::Output<hal::gpio::PushPull>>,
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>;
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type AFE2 = afe::ProgrammableGainAmplifier<
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type AFE1 = afe::ProgrammableGainAmplifier<
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hal::gpio::gpiod::PD14<hal::gpio::Output<hal::gpio::PushPull>>,
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hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>,
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>;
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@ -160,13 +160,13 @@ macro_rules! route_request {
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#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
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const APP: () = {
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struct Resources {
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adc1: hal::spi::Spi<hal::stm32::SPI2>,
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dac1: hal::spi::Spi<hal::stm32::SPI4>,
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afe1: AFE1,
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adc0: hal::spi::Spi<hal::stm32::SPI2>,
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dac0: hal::spi::Spi<hal::stm32::SPI4>,
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afe0: AFE0,
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adc2: hal::spi::Spi<hal::stm32::SPI3>,
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dac2: hal::spi::Spi<hal::stm32::SPI5>,
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afe2: AFE2,
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adc1: hal::spi::Spi<hal::stm32::SPI3>,
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dac1: hal::spi::Spi<hal::stm32::SPI5>,
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afe1: AFE1,
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eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>,
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@ -240,20 +240,20 @@ const APP: () = {
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let gpiof = dp.GPIOF.split(&mut clocks);
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let gpiog = dp.GPIOG.split(&mut clocks);
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let afe1 = {
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let afe0 = {
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let a0_pin = gpiof.pf2.into_push_pull_output();
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let a1_pin = gpiof.pf5.into_push_pull_output();
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afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
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};
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let afe2 = {
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let afe1 = {
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let a0_pin = gpiod.pd14.into_push_pull_output();
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let a1_pin = gpiod.pd15.into_push_pull_output();
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afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
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};
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// Configure the SPI interfaces to the ADCs and DACs.
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let adc1_spi = {
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let adc0_spi = {
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let spi_miso = gpiob
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.pb14
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.into_alternate_af5()
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@ -286,7 +286,7 @@ const APP: () = {
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spi
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};
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let adc2_spi = {
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let adc1_spi = {
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let spi_miso = gpiob
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.pb4
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.into_alternate_af6()
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@ -319,7 +319,7 @@ const APP: () = {
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spi
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};
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let dac1_spi = {
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let dac0_spi = {
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let spi_miso = gpioe
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.pe5
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.into_alternate_af5()
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@ -348,7 +348,7 @@ const APP: () = {
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)
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};
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let dac2_spi = {
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let dac1_spi = {
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let spi_miso = gpiof
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.pf8
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.into_alternate_af5()
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@ -624,14 +624,14 @@ const APP: () = {
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dma.configure_m2p_stream(
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hal::dma::Stream::One,
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&SPI_START_CODE as *const _ as u32,
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&adc1_spi.spi.cr1 as *const _ as u32,
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&adc0_spi.spi.cr1 as *const _ as u32,
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hal::dma::DMAREQ_ID::TIM2_CH1,
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);
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dma.configure_m2p_stream(
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hal::dma::Stream::Two,
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&SPI_START_CODE as *const _ as u32,
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&adc2_spi.spi.cr1 as *const _ as u32,
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&adc1_spi.spi.cr1 as *const _ as u32,
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hal::dma::DMAREQ_ID::TIM2_CH2,
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);
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@ -644,12 +644,13 @@ const APP: () = {
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timer2.listen(hal::timer::Event::ChannelTwoDma);
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init::LateResources {
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afe0: afe0,
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adc0: adc0_spi,
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dac0: dac0_spi,
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afe1: afe1,
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adc1: adc1_spi,
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dac1: dac1_spi,
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adc2: adc2_spi,
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dac2: dac2_spi,
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afe1,
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afe2,
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timer: timer2,
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pounder: pounder_devices,
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@ -661,35 +662,15 @@ const APP: () = {
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}
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}
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#[task(binds = SPI3, resources = [adc2, dac2, iir_state, iir_ch], priority = 2)]
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#[task(binds = SPI3, resources = [adc1, dac1, iir_state, iir_ch], priority = 2)]
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fn spi3(c: spi3::Context) {
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c.resources.adc2.spi.ifcr.write(|w| w.eotc().set_bit());
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let output: u16 = {
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let a: u16 = c.resources.adc2.read().unwrap();
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let x0 = f32::from(a as i16);
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let y0 =
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c.resources.iir_ch[1].update(&mut c.resources.iir_state[1], x0);
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y0 as i16 as u16 ^ 0x8000
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};
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c.resources
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.dac2
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.spi
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.ifcr
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.write(|w| w.eotc().set_bit().txtfc().set_bit());
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c.resources.dac2.send(output).unwrap();
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}
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#[task(binds = SPI2, resources = [adc1, dac1, iir_state, iir_ch], priority = 2)]
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fn spi2(c: spi2::Context) {
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c.resources.adc1.spi.ifcr.write(|w| w.eotc().set_bit());
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let output: u16 = {
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let a: u16 = c.resources.adc1.read().unwrap();
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let x0 = f32::from(a as i16);
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let y0 =
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c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0);
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c.resources.iir_ch[1].update(&mut c.resources.iir_state[1], x0);
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y0 as i16 as u16 ^ 0x8000
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};
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@ -701,7 +682,27 @@ const APP: () = {
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c.resources.dac1.send(output).unwrap();
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}
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#[idle(resources=[net_interface, pounder, mac_addr, eth_mac, iir_state, iir_ch, afe1, afe2])]
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#[task(binds = SPI2, resources = [adc0, dac0, iir_state, iir_ch], priority = 2)]
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fn spi2(c: spi2::Context) {
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c.resources.adc0.spi.ifcr.write(|w| w.eotc().set_bit());
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let output: u16 = {
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let a: u16 = c.resources.adc0.read().unwrap();
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let x0 = f32::from(a as i16);
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let y0 =
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c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0);
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y0 as i16 as u16 ^ 0x8000
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};
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c.resources
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.dac0
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.spi
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.ifcr
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.write(|w| w.eotc().set_bit().txtfc().set_bit());
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c.resources.dac0.send(output).unwrap();
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}
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#[idle(resources=[net_interface, pounder, mac_addr, eth_mac, iir_state, iir_ch, afe0, afe1])]
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fn idle(mut c: idle::Context) -> ! {
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let mut socket_set_entries: [_; 8] = Default::default();
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let mut sockets =
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@ -761,8 +762,8 @@ const APP: () = {
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Ok::<server::Status, ()>(state)
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}),
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"stabilizer/afe0/gain": (|| c.resources.afe0.get_gain()),
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"stabilizer/afe1/gain": (|| c.resources.afe1.get_gain()),
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"stabilizer/afe2/gain": (|| c.resources.afe2.get_gain()),
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"pounder/in0": (|| {
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match c.resources.pounder {
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Some(pounder) =>
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@ -800,7 +801,7 @@ const APP: () = {
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],
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modifiable_attributes: [
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"stabilizer/iir1/state": server::IirRequest, (|req: server::IirRequest| {
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"stabilizer/iir0/state": server::IirRequest, (|req: server::IirRequest| {
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c.resources.iir_ch.lock(|iir_ch| {
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if req.channel > 1 {
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return Err(());
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@ -811,7 +812,7 @@ const APP: () = {
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Ok::<server::IirRequest, ()>(req)
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})
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}),
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"stabilizer/iir2/state": server::IirRequest, (|req: server::IirRequest| {
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"stabilizer/iir1/state": server::IirRequest, (|req: server::IirRequest| {
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c.resources.iir_ch.lock(|iir_ch| {
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if req.channel > 1 {
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return Err(());
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@ -856,11 +857,11 @@ const APP: () = {
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_ => Err(pounder::Error::Access),
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}
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}),
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"stabilizer/afe0/gain": afe::Gain, (|gain| {
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Ok::<(), ()>(c.resources.afe0.set_gain(gain))
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}),
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"stabilizer/afe1/gain": afe::Gain, (|gain| {
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Ok::<(), ()>(c.resources.afe1.set_gain(gain))
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}),
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"stabilizer/afe2/gain": afe::Gain, (|gain| {
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Ok::<(), ()>(c.resources.afe2.set_gain(gain))
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})
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]
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)
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