Merge pull request #255 from quartiq/rj/timestamp-tweaks

Rj/timestamp tweaks

dsp/src/iir_int.rs

@@ -22,8 +22,9 @@ impl Vec5 {
     pub fn lowpass(f: f32, q: f32, k: f32) -> Self {
         // 3rd order Taylor approximation of sin and cos.
         let f = f * 2. * PI;
-        let fsin = f - f * f * f / 6.;
+        let f2 = f * f * 0.5;
-        let fcos = 1. - f * f / 2.;
+        let fcos = 1. - f2;
+        let fsin = f * (1. - f2 / 3.);
         let alpha = fsin / (2. * q);
         // IIR uses Q2.30 fixed point
         let a0 = (1. + alpha) / (1 << IIR::SHIFT) as f32;

src/bin/lockin-external.rs

@@ -83,24 +83,13 @@ const APP: () = {
         }
     }
 
-    /// Main DSP processing routine for Stabilizer.
+    /// Main DSP processing routine.
     ///
-    /// # Note
+    /// See `dual-iir` for general notes on processing time and timing.
-    /// Processing time for the DSP application code is bounded by the following constraints:
     ///
-    /// DSP application code starts after the ADC has generated a batch of samples and must be
+    /// This is an implementation of a externally (DI0) referenced PLL lockin on the ADC0 signal.
-    /// completed by the time the next batch of ADC samples has been acquired (plus the FIFO buffer
+    /// It outputs either I/Q or power/phase on DAC0/DAC1. Data is normalized to full scale.
-    /// time). If this constraint is not met, firmware will panic due to an ADC input overrun.
+    /// PLL bandwidth, filter bandwidth, slope, and x/y or power/phase post-filters are available.
-    ///
-    /// The DSP application code must also fill out the next DAC output buffer in time such that the
-    /// DAC can switch to it when it has completed the current buffer. If this constraint is not met
-    /// it's possible that old DAC codes will be generated on the output and the output samples will
-    /// be delayed by 1 batch.
-    ///
-    /// Because the ADC and DAC operate at the same rate, these two constraints actually implement
-    /// the same time bounds, meeting one also means the other is also met.
-    ///
-    /// TODO: document lockin
     #[task(binds=DMA1_STR4, resources=[adcs, dacs, iir_state, iir_ch, lockin, timestamper, pll], priority=2)]
     fn process(c: process::Context) {
         let adc_samples = [
@@ -117,8 +106,14 @@ const APP: () = {
         let iir_state = c.resources.iir_state;
         let lockin = c.resources.lockin;
 
+        let timestamp = c
+            .resources
+            .timestamper
+            .latest_timestamp()
+            .unwrap_or_else(|t| t) // Ignore timer capture overflows.
+            .map(|t| t as i32);
         let (pll_phase, pll_frequency) = c.resources.pll.update(
-            c.resources.timestamper.latest_timestamp().map(|t| t as i32),
+            timestamp,
             22, // frequency settling time (log2 counter cycles), TODO: expose
             22, // phase settling time, TODO: expose
         );

src/hardware/configuration.rs

@@ -154,7 +154,6 @@ pub fn setup(
         // Configure the timer to count at the designed tick rate. We will manually set the
         // period below.
         timer2.pause();
-        timer2.reset_counter();
         timer2.set_tick_freq(design_parameters::TIMER_FREQUENCY);
 
         let mut sampling_timer = timers::SamplingTimer::new(timer2);
@@ -213,13 +212,15 @@ pub fn setup(
         timer5.pause();
         timer5.set_tick_freq(design_parameters::TIMER_FREQUENCY);
 
-        // The timestamp timer must run at exactly a multiple of the sample timer based on the
+        // The timestamp timer runs at the counter cycle period as the sampling timers.
-        // batch size. To accomodate this, we manually set the prescaler identical to the sample
+        // To accomodate this, we manually set the prescaler identical to the sample
-        // timer, but use a period that is longer.
+        // timer, but use maximum overflow period.
         let mut timer = timers::TimestampTimer::new(timer5);
 
-        let period = digital_input_stamper::calculate_timestamp_timer_period();
+        // TODO: Check hardware synchronization of timestamping and the sampling timers
-        timer.set_period_ticks(period);
+        // for phase shift determinism.
+
+        timer.set_period_ticks(u32::MAX);
 
         timer
     };

src/hardware/digital_input_stamper.rs

@@ -25,42 +25,6 @@
 ///! This module only supports DI0 for timestamping due to trigger constraints on the DIx pins. If
 ///! timestamping is desired in DI1, a separate timer + capture channel will be necessary.
 use super::{hal, timers};
-use crate::{ADC_SAMPLE_TICKS, SAMPLE_BUFFER_SIZE};
-
-/// Calculate the period of the digital input timestamp timer.
-///
-/// # Note
-/// The period returned will be 1 less than the required period in timer ticks. The value returned
-/// can be immediately programmed into a hardware timer period register.
-///
-/// The period is calculated to be some power-of-two multiple of the batch size, such that N batches
-/// will occur between each timestamp timer overflow.
-///
-/// # Returns
-/// A 32-bit value that can be programmed into a hardware timer period register.
-pub fn calculate_timestamp_timer_period() -> u32 {
-    // Calculate how long a single batch requires in timer ticks.
-    let batch_duration_ticks: u64 =
-        SAMPLE_BUFFER_SIZE as u64 * ADC_SAMPLE_TICKS as u64;
-
-    // Calculate the largest power-of-two that is less than or equal to
-    // `batches_per_overflow`.  This is completed by eliminating the least significant
-    // bits of the value until only the msb remains, which is always a power of two.
-    let batches_per_overflow: u64 =
-        (1u64 + u32::MAX as u64) / batch_duration_ticks;
-    let mut j = batches_per_overflow;
-    while (j & (j - 1)) != 0 {
-        j = j & (j - 1);
-    }
-
-    // Once the number of batches per timestamp overflow is calculated, we can figure out the final
-    // period of the timestamp timer. The period is always 1 larger than the value configured in the
-    // register.
-    let period: u64 = batch_duration_ticks * j - 1u64;
-    assert!(period <= u32::MAX as u64);
-
-    period as u32
-}
 
 /// The timestamper for DI0 reference clock inputs.
 pub struct InputStamper {
@@ -98,15 +62,12 @@ impl InputStamper {
     /// Get the latest timestamp that has occurred.
     ///
     /// # Note
-    /// This function must be called sufficiently often. If an over-capture event occurs, this
+    /// This function must be called at least as often as timestamps arrive.
-    /// function will panic, as this indicates a timestamp was inadvertently dropped.
+    /// If an over-capture event occurs, this function will clear the overflow,
-    ///
+    /// and return a new timestamp of unknown recency an `Err()`.
-    /// To prevent timestamp loss, the batch size and sampling rate must be adjusted such that at
+    /// Note that this indicates at least one timestamp was inadvertently dropped.
-    /// most one timestamp will occur in each data processing cycle.
     #[allow(dead_code)]
-    pub fn latest_timestamp(&mut self) -> Option<u32> {
+    pub fn latest_timestamp(&mut self) -> Result<Option<u32>, Option<u32>> {
-        self.capture_channel
+        self.capture_channel.latest_capture()
-            .latest_capture()
-            .expect("DI0 timestamp overrun")
     }
 }

src/hardware/timers.rs

@@ -281,28 +281,26 @@ macro_rules! timer_channels {
             impl [< Channel $index InputCapture >] {
                 /// Get the latest capture from the channel.
                 #[allow(dead_code)]
-                pub fn latest_capture(&mut self) -> Result<Option<$size>, ()> {
+                pub fn latest_capture(&mut self) -> Result<Option<$size>, Option<$size>> {
                     // Note(unsafe): This channel owns all access to the specific timer channel.
                     // Only atomic operations on completed on the timer registers.
                     let regs = unsafe { &*<$TY>::ptr() };
-                    let sr = regs.sr.read();
 
-                    let result = if sr.[< cc $index if >]().bit_is_set() {
+                    let result = if regs.sr.read().[< cc $index if >]().bit_is_set() {
                         // Read the capture value. Reading the captured value clears the flag in the
                         // status register automatically.
-                        let ccx = regs.[< ccr $index >].read();
+                        Some(regs.[< ccr $index >].read().ccr().bits())
-                        Some(ccx.ccr().bits())
                     } else {
                         None
                     };
 
                     // Read SR again to check for a potential over-capture. If there is an
                     // overcapture, return an error.
-                    if regs.sr.read().[< cc $index of >]().bit_is_clear() {
+                    if regs.sr.read().[< cc $index of >]().bit_is_set() {
-                        Ok(result)
-                    } else {
                         regs.sr.modify(|_, w| w.[< cc $index of >]().clear_bit());
-                        Err(())
+                        Err(result)
+                    } else {
+                        Ok(result)
                     }
                 }