Adding simplified clocking semantics

src/bin/dual-iir.rs

@@ -4,20 +4,18 @@
 
 use stm32h7xx_hal as hal;
 
-use rtic::cyccnt::{Instant, U32Ext};
-
 use stabilizer::hardware;
 
 use miniconf::{
     embedded_nal::{IpAddr, Ipv4Addr},
-    minimq,
+    minimq, MqttInterface, StringSet,
-    MqttInterface, StringSet,
 };
 use serde::Deserialize;
 
 use dsp::iir;
 use hardware::{
-    Adc0Input, Adc1Input, Dac0Output, Dac1Output, NetworkStack, AFE0, AFE1,
+    Adc0Input, Adc1Input, CycleCounter, Dac0Output, Dac1Output, NetworkStack,
+    AFE0, AFE1,
 };
 
 const SCALE: f32 = i16::MAX as _;
@@ -32,9 +30,7 @@ pub struct Settings {
 
 impl Settings {
     pub fn new() -> Self {
-        Self {
+        Self { test: 0 }
-            test: 0,
-        }
     }
 }
 
@@ -44,7 +40,9 @@ const APP: () = {
         afes: (AFE0, AFE1),
         adcs: (Adc0Input, Adc1Input),
         dacs: (Dac0Output, Dac1Output),
-        mqtt_interface: MqttInterface<Settings, NetworkStack, minimq::consts::U256>,
+        mqtt_interface:
+            MqttInterface<Settings, NetworkStack, minimq::consts::U256>,
+        clock: CycleCounter,
 
         // Format: iir_state[ch][cascade-no][coeff]
         #[init([[iir::Vec5([0.; 5]); IIR_CASCADE_LENGTH]; 2])]
@@ -61,14 +59,15 @@ const APP: () = {
         let mqtt_interface = {
             let mqtt_client = {
                 let broker = IpAddr::V4(Ipv4Addr::new(10, 34, 16, 1));
-                minimq::MqttClient::new(broker, "stabilizer", stabilizer.net.stack).unwrap()
+                minimq::MqttClient::new(
+                    broker,
+                    "stabilizer",
+                    stabilizer.net.stack,
+                )
+                .unwrap()
             };
 
-            MqttInterface::new(
+            MqttInterface::new(mqtt_client, "stabilizer", Settings::new())
-                mqtt_client,
-                "stabilizer",
-                Settings::new(),
-            )
                 .unwrap()
         };
 
@@ -86,6 +85,7 @@ const APP: () = {
             afes: stabilizer.afes,
             adcs: stabilizer.adcs,
             dacs: stabilizer.dacs,
+            clock: stabilizer.cycle_counter,
         }
     }
 
@@ -134,26 +134,14 @@ const APP: () = {
         }
     }
 
-    #[idle(resources=[mqtt_interface], spawn=[settings_update])]
+    #[idle(resources=[mqtt_interface, clock], spawn=[settings_update])]
     fn idle(mut c: idle::Context) -> ! {
-        let mut time = 0u32;
+        let clock = c.resources.clock;
-        let mut next_ms = Instant::now();
-
-        // TODO: Replace with reference to CPU clock from CCDR.
-        next_ms += 400_000.cycles();
 
         loop {
-            let tick = Instant::now() > next_ms;
+            let sleep = c.resources.mqtt_interface.lock(|interface| {
-
+                !interface.network_stack().poll(clock.current_ms())
-            if tick {
+            });
-                next_ms += 400_000.cycles();
-                time += 1;
-            }
-
-            let sleep = c
-                .resources
-                .mqtt_interface
-                .lock(|interface| !interface.network_stack().poll(time));
 
             match c
                 .resources

src/bin/lockin-external.rs

@@ -4,12 +4,9 @@
 
 use stm32h7xx_hal as hal;
 
-use rtic::cyccnt::{Instant, U32Ext};
-
 use miniconf::{
     embedded_nal::{IpAddr, Ipv4Addr},
-    minimq,
+    minimq, MqttInterface, StringSet,
-    MqttInterface, StringSet,
 };
 
 use serde::Deserialize;
@@ -23,12 +20,12 @@ use hardware::{
 
 #[derive(Deserialize, StringSet)]
 pub struct Settings {
+    data: u32,
 }
 
 impl Settings {
     pub fn new() -> Self {
-        Self {
+        Self { data: 5 }
-        }
     }
 }
 
@@ -38,7 +35,12 @@ const APP: () = {
         afes: (AFE0, AFE1),
         adcs: (Adc0Input, Adc1Input),
         dacs: (Dac0Output, Dac1Output),
-        mqtt_interface: MqttInterface<Settings, hardware::NetworkStack, minimq::consts::U256>,
+        clock: hardware::CycleCounter,
+        mqtt_interface: MqttInterface<
+            Settings,
+            hardware::NetworkStack,
+            minimq::consts::U256,
+        >,
 
         timestamper: InputStamper,
         pll: RPLL,
@@ -53,14 +55,15 @@ const APP: () = {
         let mqtt_interface = {
             let mqtt_client = {
                 let broker = IpAddr::V4(Ipv4Addr::new(10, 34, 16, 1));
-                minimq::MqttClient::new(broker, "stabilizer", stabilizer.net.stack).unwrap()
+                minimq::MqttClient::new(
+                    broker,
+                    "stabilizer",
+                    stabilizer.net.stack,
+                )
+                .unwrap()
             };
 
-            MqttInterface::new(
+            MqttInterface::new(mqtt_client, "stabilizer", Settings::new())
-                mqtt_client,
-                "stabilizer",
-                Settings::new(),
-            )
                 .unwrap()
         };
 
@@ -90,6 +93,7 @@ const APP: () = {
             adcs: stabilizer.adcs,
             dacs: stabilizer.dacs,
             timestamper: stabilizer.timestamper,
+            clock: stabilizer.cycle_counter,
 
             pll,
             lockin: Lockin::default(),
@@ -172,26 +176,13 @@ const APP: () = {
         }
     }
 
-    #[idle(resources=[mqtt_interface], spawn=[settings_update])]
+    #[idle(resources=[mqtt_interface, clock], spawn=[settings_update])]
     fn idle(mut c: idle::Context) -> ! {
-        let mut time = 0u32;
+        let clock = c.resources.clock;
-        let mut next_ms = Instant::now();
-
-        // TODO: Replace with reference to CPU clock from CCDR.
-        next_ms += 400_000.cycles();
-
         loop {
-            let tick = Instant::now() > next_ms;
+            let sleep = c.resources.mqtt_interface.lock(|interface| {
-
+                !interface.network_stack().poll(clock.current_ms())
-            if tick {
+            });
-                next_ms += 400_000.cycles();
-                time += 1;
-            }
-
-            let sleep = c
-                .resources
-                .mqtt_interface
-                .lock(|interface| !interface.network_stack().poll(time));
 
             match c
                 .resources

src/hardware/configuration.rs

@@ -12,8 +12,9 @@ use smoltcp_nal::smoltcp;
 use embedded_hal::digital::v2::{InputPin, OutputPin};
 
 use super::{
-    adc, afe, dac, design_parameters, digital_input_stamper, eeprom, pounder,
+    adc, afe, cycle_counter::CycleCounter, dac, design_parameters,
-    timers, DdsOutput, NetworkStack, AFE0, AFE1,
+    digital_input_stamper, eeprom, pounder, timers, DdsOutput, NetworkStack,
+    AFE0, AFE1,
 };
 
 pub struct NetStorage {
@@ -42,6 +43,7 @@ pub struct StabilizerDevices {
     pub adc_dac_timer: timers::SamplingTimer,
     pub timestamp_timer: timers::TimestampTimer,
     pub net: NetworkDevices,
+    pub cycle_counter: CycleCounter,
 }
 
 /// The available Pounder-specific hardware interfaces.
@@ -831,6 +833,7 @@ pub fn setup(
         net: network_devices,
         adc_dac_timer: sampling_timer,
         timestamp_timer,
+        cycle_counter: CycleCounter::new(core.DWT, ccdr.clocks.c_ck()),
     };
 
     // info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
@@ -840,8 +843,5 @@ pub fn setup(
     // Enable the instruction cache.
     core.SCB.enable_icache();
 
-    // Utilize the cycle counter for RTIC scheduling.
-    core.DWT.enable_cycle_counter();
-
     (stabilizer, pounder)
 }

src/hardware/cycle_counter.rs

@@ -0,0 +1,36 @@
+use rtic::cyccnt::{Duration, Instant, U32Ext};
+
+use stm32h7xx_hal::time::Hertz;
+
+pub struct CycleCounter {
+    next_tick: Instant,
+    ticks: u32,
+    increment: Duration,
+}
+
+impl CycleCounter {
+    pub fn new(
+        mut dwt: cortex_m::peripheral::DWT,
+        cpu_frequency: impl Into<Hertz>,
+    ) -> Self {
+        dwt.enable_cycle_counter();
+        let increment =
+            ((cpu_frequency.into().0 as f32 / 1000.0) as u32).cycles();
+
+        Self {
+            increment,
+            ticks: 0,
+            next_tick: Instant::now() + increment,
+        }
+    }
+
+    pub fn current_ms(&mut self) -> u32 {
+        let now = Instant::now();
+        while now > self.next_tick {
+            self.next_tick += self.increment;
+            self.ticks += 1;
+        }
+
+        self.ticks
+    }
+}

src/hardware/mod.rs

@@ -10,6 +10,7 @@ use panic_halt as _;
 mod adc;
 mod afe;
 mod configuration;
+mod cycle_counter;
 mod dac;
 pub mod design_parameters;
 mod digital_input_stamper;
@@ -19,6 +20,7 @@ mod timers;
 
 pub use adc::{Adc0Input, Adc1Input};
 pub use afe::Gain as AfeGain;
+pub use cycle_counter::CycleCounter;
 pub use dac::{Dac0Output, Dac1Output};
 pub use digital_input_stamper::InputStamper;
 pub use pounder::DdsOutput;