Cleaning up demo
This commit is contained in:
parent
cf8b06be81
commit
1ebbe0f6d7
@ -3,37 +3,22 @@
|
||||
#![no_main]
|
||||
#![cfg_attr(feature = "nightly", feature(core_intrinsics))]
|
||||
|
||||
use stm32h7xx_hal as hal;
|
||||
|
||||
#[macro_use]
|
||||
extern crate log;
|
||||
|
||||
use rtic::cyccnt::{Instant, U32Ext};
|
||||
|
||||
use heapless::{consts::*, String};
|
||||
|
||||
// A constant sinusoid to send on the DAC output.
|
||||
const DAC_SEQUENCE: [f32; 8] =
|
||||
[0.0, 0.707, 1.0, 0.707, 0.0, -0.707, -1.0, -0.707];
|
||||
|
||||
use dsp::{iir, iir_int, lockin::Lockin, reciprocal_pll::TimestampHandler};
|
||||
use dsp::{iir, iir_int, lockin::Lockin};
|
||||
use hardware::{Adc1Input, Dac0Output, Dac1Output, AFE0, AFE1};
|
||||
use stabilizer::{
|
||||
hardware, server, ADC_SAMPLE_TICKS_LOG2, SAMPLE_BUFFER_SIZE_LOG2,
|
||||
};
|
||||
use stabilizer::hardware;
|
||||
|
||||
const SCALE: f32 = ((1 << 15) - 1) as f32;
|
||||
|
||||
const TCP_RX_BUFFER_SIZE: usize = 8192;
|
||||
const TCP_TX_BUFFER_SIZE: usize = 8192;
|
||||
|
||||
#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
|
||||
const APP: () = {
|
||||
struct Resources {
|
||||
afes: (AFE0, AFE1),
|
||||
adc1: Adc1Input,
|
||||
dacs: (Dac0Output, Dac1Output),
|
||||
net_interface: hardware::Ethernet,
|
||||
|
||||
#[init([0.; 5])]
|
||||
iir_state: iir::IIRState,
|
||||
@ -63,11 +48,9 @@ const APP: () = {
|
||||
|
||||
init::LateResources {
|
||||
lockin,
|
||||
pll,
|
||||
afes: stabilizer.afes,
|
||||
adc1: stabilizer.adcs.1,
|
||||
dacs: stabilizer.dacs,
|
||||
net_interface: stabilizer.net.interface,
|
||||
}
|
||||
}
|
||||
|
||||
@ -89,7 +72,7 @@ const APP: () = {
|
||||
/// the same time bounds, meeting one also means the other is also met.
|
||||
///
|
||||
/// TODO: Document
|
||||
#[task(binds=DMA1_STR4, resources=[adc1, dacs, iir_state, iir, lockin, pll], priority=2)]
|
||||
#[task(binds=DMA1_STR4, resources=[adc1, dacs, iir_state, iir, lockin], priority=2)]
|
||||
fn process(mut c: process::Context) {
|
||||
let adc_samples = c.resources.adc1.acquire_buffer();
|
||||
let dac_samples = [
|
||||
@ -144,117 +127,17 @@ const APP: () = {
|
||||
}
|
||||
}
|
||||
|
||||
#[idle(resources=[net_interface, iir_state, iir, afes])]
|
||||
fn idle(mut c: idle::Context) -> ! {
|
||||
let mut socket_set_entries: [_; 8] = Default::default();
|
||||
let mut sockets =
|
||||
smoltcp::socket::SocketSet::new(&mut socket_set_entries[..]);
|
||||
|
||||
let mut rx_storage = [0; TCP_RX_BUFFER_SIZE];
|
||||
let mut tx_storage = [0; TCP_TX_BUFFER_SIZE];
|
||||
let tcp_handle = {
|
||||
let tcp_rx_buffer =
|
||||
smoltcp::socket::TcpSocketBuffer::new(&mut rx_storage[..]);
|
||||
let tcp_tx_buffer =
|
||||
smoltcp::socket::TcpSocketBuffer::new(&mut tx_storage[..]);
|
||||
let tcp_socket =
|
||||
smoltcp::socket::TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
|
||||
sockets.add(tcp_socket)
|
||||
};
|
||||
|
||||
let mut server = server::Server::new();
|
||||
|
||||
let mut time = 0u32;
|
||||
let mut next_ms = Instant::now();
|
||||
|
||||
// TODO: Replace with reference to CPU clock from CCDR.
|
||||
next_ms += 400_000.cycles();
|
||||
|
||||
#[idle(resources=[iir_state, iir, afes])]
|
||||
fn idle(_: idle::Context) -> ! {
|
||||
loop {
|
||||
let tick = Instant::now() > next_ms;
|
||||
|
||||
if tick {
|
||||
next_ms += 400_000.cycles();
|
||||
time += 1;
|
||||
}
|
||||
|
||||
{
|
||||
let socket =
|
||||
&mut *sockets.get::<smoltcp::socket::TcpSocket>(tcp_handle);
|
||||
if socket.state() == smoltcp::socket::TcpState::CloseWait {
|
||||
socket.close();
|
||||
} else if !(socket.is_open() || socket.is_listening()) {
|
||||
socket
|
||||
.listen(1235)
|
||||
.unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
|
||||
} else {
|
||||
server.poll(socket, |req| {
|
||||
info!("Got request: {:?}", req);
|
||||
stabilizer::route_request!(req,
|
||||
readable_attributes: [
|
||||
"stabilizer/iir/state": (|| {
|
||||
let state = c.resources.iir_state.lock(|iir_state|
|
||||
server::Status {
|
||||
t: time,
|
||||
x0: iir_state[0],
|
||||
y0: iir_state[2],
|
||||
x1: iir_state[0],
|
||||
y1: iir_state[2],
|
||||
});
|
||||
|
||||
Ok::<server::Status, ()>(state)
|
||||
}),
|
||||
"stabilizer/afe0/gain": (|| c.resources.afes.0.get_gain()),
|
||||
"stabilizer/afe1/gain": (|| c.resources.afes.1.get_gain())
|
||||
],
|
||||
|
||||
modifiable_attributes: [
|
||||
"stabilizer/iir/state": server::IirRequest, (|req: server::IirRequest| {
|
||||
c.resources.iir.lock(|iir| {
|
||||
if req.channel >= 1 {
|
||||
return Err(());
|
||||
}
|
||||
|
||||
*iir = req.iir;
|
||||
|
||||
Ok::<server::IirRequest, ()>(req)
|
||||
})
|
||||
}),
|
||||
"stabilizer/afe0/gain": hardware::AfeGain, (|gain| {
|
||||
c.resources.afes.0.set_gain(gain);
|
||||
Ok::<(), ()>(())
|
||||
}),
|
||||
"stabilizer/afe1/gain": hardware::AfeGain, (|gain| {
|
||||
c.resources.afes.1.set_gain(gain);
|
||||
Ok::<(), ()>(())
|
||||
})
|
||||
]
|
||||
)
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
let sleep = match c.resources.net_interface.poll(
|
||||
&mut sockets,
|
||||
smoltcp::time::Instant::from_millis(time as i64),
|
||||
) {
|
||||
Ok(changed) => !changed,
|
||||
Err(smoltcp::Error::Unrecognized) => true,
|
||||
Err(e) => {
|
||||
info!("iface poll error: {:?}", e);
|
||||
true
|
||||
}
|
||||
};
|
||||
|
||||
if sleep {
|
||||
cortex_m::asm::wfi();
|
||||
}
|
||||
// TODO: Implement network interface.
|
||||
cortex_m::asm::wfi();
|
||||
}
|
||||
}
|
||||
|
||||
#[task(binds = ETH, priority = 1)]
|
||||
fn eth(_: eth::Context) {
|
||||
unsafe { hal::ethernet::interrupt_handler() }
|
||||
unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
|
||||
}
|
||||
|
||||
#[task(binds = SPI2, priority = 3)]
|
||||
|
||||
Loading…
Reference in New Issue
Block a user