Refactoring to support multiple apps

.github/workflows/ci.yml

@@ -27,7 +27,6 @@ jobs:
           command: fmt
           args: --all -- --check
       - uses: actions-rs/clippy-check@v1
-        continue-on-error: true
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
 

src/hardware/adc.rs

@@ -1,3 +1,10 @@
+use super::timers;
+use hal::dma::{
+    config::Priority,
+    dma::{DMAReq, DmaConfig},
+    traits::TargetAddress,
+    MemoryToPeripheral, PeripheralToMemory, Transfer,
+};
 ///! Stabilizer ADC management interface
 ///!
 ///! # Design
@@ -72,10 +79,9 @@
 ///! be used as a means to both detect and buffer ADC samples during the buffer swap-over. Because
 ///! of this, double-buffered mode does not offer any advantages over single-buffered mode (unless
 ///! double-buffered mode offers less overhead due to the DMA disable/enable procedure).
-use super::{
+use stm32h7xx_hal as hal;
-    hal, timers, DMAReq, DmaConfig, MemoryToPeripheral, PeripheralToMemory,
+
-    Priority, TargetAddress, Transfer, SAMPLE_BUFFER_SIZE,
+use crate::SAMPLE_BUFFER_SIZE;
-};
 
 // The following data is written by the timer ADC sample trigger into the SPI CR1 to start the
 // transfer. Data in AXI SRAM is not initialized on boot, so the contents are random. This value is
@@ -174,13 +180,13 @@ macro_rules! adc_input {
                     PeripheralToMemory,
                     &'static mut [u16; SAMPLE_BUFFER_SIZE],
                 >,
-                _trigger_transfer: Transfer<
+                trigger_transfer: Transfer<
                     hal::dma::dma::$trigger_stream<hal::stm32::DMA1>,
                     [< $spi CR >],
                     MemoryToPeripheral,
                     &'static mut [u32; 1],
                 >,
-                _flag_clear_transfer: Transfer<
+                clear_transfer: Transfer<
                     hal::dma::dma::$clear_stream<hal::stm32::DMA1>,
                     [< $spi IFCR >],
                     MemoryToPeripheral,
@@ -227,7 +233,7 @@ macro_rules! adc_input {
                     clear_channel.listen_dma();
                     clear_channel.to_output_compare(0);
 
-                    let mut clear_transfer: Transfer<
+                    let clear_transfer: Transfer<
                         _,
                         _,
                         MemoryToPeripheral,
@@ -264,7 +270,7 @@ macro_rules! adc_input {
                     };
 
                     // Construct the trigger stream to write from memory to the peripheral.
-                    let mut trigger_transfer: Transfer<
+                    let trigger_transfer: Transfer<
                         _,
                         _,
                         MemoryToPeripheral,
@@ -299,7 +305,7 @@ macro_rules! adc_input {
 
                     // The data transfer is always a transfer of data from the peripheral to a RAM
                     // buffer.
-                    let mut data_transfer: Transfer<_, _, PeripheralToMemory, _> =
+                    let data_transfer: Transfer<_, _, PeripheralToMemory, _> =
                         Transfer::init(
                             data_stream,
                             spi,
@@ -310,29 +316,30 @@ macro_rules! adc_input {
                             data_config,
                         );
 
-                    data_transfer.start(|spi| {
-                        // Allow the SPI RX FIFO to generate DMA transfer requests when data is
-                        // available.
-                        spi.enable_dma_rx();
-
-                        // Each transaction is 1 word (16 bytes).
-                        spi.inner().cr2.modify(|_, w| w.tsize().bits(1));
-                        spi.inner().cr1.modify(|_, w| w.spe().set_bit());
-                    });
-
-                    clear_transfer.start(|_| {});
-                    trigger_transfer.start(|_| {});
-
                     Self {
                         // Note(unsafe): The ADC_BUF[$index][1] is "owned" by this peripheral. It
                         // shall not be used anywhere else in the module.
                         next_buffer: unsafe { Some(&mut ADC_BUF[$index][1]) },
                         transfer: data_transfer,
-                        _trigger_transfer: trigger_transfer,
+                        trigger_transfer,
-                        _flag_clear_transfer: clear_transfer,
+                        clear_transfer,
                     }
                 }
 
+                /// Enable the ADC DMA transfer sequence.
+                pub fn start(&mut self) {
+                    self.transfer.start(|spi| {
+                        spi.enable_dma_rx();
+
+                        spi.inner().cr2.modify(|_, w| w.tsize().bits(1));
+                        spi.inner().cr1.modify(|_, w| w.spe().set_bit());
+                    });
+
+                    self.clear_transfer.start(|_| {});
+                    self.trigger_transfer.start(|_| {});
+
+                }
+
                 /// Obtain a buffer filled with ADC samples.
                 ///
                 /// # Returns

src/hardware/configuration.rs

@@ -0,0 +1,819 @@
+///! Stabilizer hardware configuration
+///!
+///! This file contains all of the hardware-specific configuration of Stabilizer.
+use crate::ADC_SAMPLE_TICKS;
+
+#[cfg(feature = "pounder_v1_1")]
+use crate::SAMPLE_BUFFER_SIZE;
+
+use smoltcp::{iface::Routes, wire::Ipv4Address};
+
+use stm32h7xx_hal::{
+    self as hal,
+    ethernet::{self, PHY},
+    prelude::*,
+};
+
+use embedded_hal::digital::v2::{InputPin, OutputPin};
+
+use super::{
+    adc, afe, dac, design_parameters, digital_input_stamper, eeprom, pounder,
+    timers, DdsOutput, Ethernet, AFE0, AFE1,
+};
+
+// Network storage definition for the ethernet interface.
+struct NetStorage {
+    ip_addrs: [smoltcp::wire::IpCidr; 1],
+    neighbor_cache:
+        [Option<(smoltcp::wire::IpAddress, smoltcp::iface::Neighbor)>; 8],
+    routes_storage: [Option<(smoltcp::wire::IpCidr, smoltcp::iface::Route)>; 1],
+}
+
+/// The available networking devices on Stabilizer.
+pub struct NetworkDevices {
+    pub interface: Ethernet,
+    pub phy: ethernet::phy::LAN8742A<ethernet::EthernetMAC>,
+}
+
+/// The available hardware interfaces on Stabilizer.
+pub struct StabilizerDevices {
+    pub afes: (AFE0, AFE1),
+    pub adcs: (adc::Adc0Input, adc::Adc1Input),
+    pub dacs: (dac::Dac0Output, dac::Dac1Output),
+    pub timestamper: digital_input_stamper::InputStamper,
+    pub adc_dac_timer: timers::SamplingTimer,
+    pub timestamp_timer: timers::TimestampTimer,
+    pub net: NetworkDevices,
+}
+
+/// The available Pounder-specific hardware interfaces.
+pub struct PounderDevices {
+    pub pounder: pounder::PounderDevices,
+    pub dds_output: DdsOutput,
+
+    #[cfg(feature = "pounder_v1_1")]
+    pub timestamper: pounder::timestamp::Timestamper,
+}
+
+#[link_section = ".sram3.eth"]
+/// Static storage for the ethernet DMA descriptor ring.
+static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
+
+/// Static, global-scope network storage for the ethernet interface.
+///
+/// This is a static singleton so that the network storage can be referenced from all contexts.
+static mut NET_STORE: NetStorage = NetStorage {
+    // Placeholder for the real IP address, which is initialized at runtime.
+    ip_addrs: [smoltcp::wire::IpCidr::Ipv6(
+        smoltcp::wire::Ipv6Cidr::SOLICITED_NODE_PREFIX,
+    )],
+    neighbor_cache: [None; 8],
+    routes_storage: [None; 1],
+};
+
+/// Configure the stabilizer hardware for operation.
+///
+/// # Args
+/// * `core` - The RTIC core for configuring the cortex-M core of the device.
+/// * `device` - The microcontroller peripherals to be configured.
+///
+/// # Returns
+/// (stabilizer, pounder) where `stabilizer` is a `StabilizerDevices` structure containing all
+/// stabilizer hardware interfaces in a disabled state. `pounder` is an `Option` containing
+/// `Some(devices)` if pounder is detected, where `devices` is a `PounderDevices` structure
+/// containing all of the pounder hardware interfaces in a disabled state.
+pub fn setup(
+    mut core: rtic::export::Peripherals,
+    device: stm32h7xx_hal::stm32::Peripherals,
+) -> (StabilizerDevices, Option<PounderDevices>) {
+    let pwr = device.PWR.constrain();
+    let vos = pwr.freeze();
+
+    // Enable SRAM3 for the ethernet descriptor ring.
+    device.RCC.ahb2enr.modify(|_, w| w.sram3en().set_bit());
+
+    // Clear reset flags.
+    device.RCC.rsr.write(|w| w.rmvf().set_bit());
+
+    // Select the PLLs for SPI.
+    device
+        .RCC
+        .d2ccip1r
+        .modify(|_, w| w.spi123sel().pll2_p().spi45sel().pll2_q());
+
+    let rcc = device.RCC.constrain();
+    let ccdr = rcc
+        .use_hse(8.mhz())
+        .sysclk(400.mhz())
+        .hclk(200.mhz())
+        .per_ck(100.mhz())
+        .pll2_p_ck(100.mhz())
+        .pll2_q_ck(100.mhz())
+        .freeze(vos, &device.SYSCFG);
+
+    #[cfg(feature = "semihosting")]
+    {
+        use cortex_m_log::log::{init as init_log, Logger};
+        use cortex_m_log::printer::semihosting::{hio::HStdout, InterruptOk};
+        use log::LevelFilter;
+        static mut LOGGER: Option<Logger<InterruptOk<HStdout>>> = None;
+        let logger = Logger {
+            inner: InterruptOk::<_>::stdout().unwrap(),
+            level: LevelFilter::Info,
+        };
+        let logger = unsafe { LOGGER.get_or_insert(logger) };
+
+        init_log(logger).unwrap();
+    }
+
+    let mut delay = hal::delay::Delay::new(core.SYST, ccdr.clocks);
+
+    let gpioa = device.GPIOA.split(ccdr.peripheral.GPIOA);
+    let gpiob = device.GPIOB.split(ccdr.peripheral.GPIOB);
+    let gpioc = device.GPIOC.split(ccdr.peripheral.GPIOC);
+    let gpiod = device.GPIOD.split(ccdr.peripheral.GPIOD);
+    let gpioe = device.GPIOE.split(ccdr.peripheral.GPIOE);
+    let gpiof = device.GPIOF.split(ccdr.peripheral.GPIOF);
+    let mut gpiog = device.GPIOG.split(ccdr.peripheral.GPIOG);
+
+    let dma_streams =
+        hal::dma::dma::StreamsTuple::new(device.DMA1, ccdr.peripheral.DMA1);
+
+    // Configure timer 2 to trigger conversions for the ADC
+    let mut sampling_timer = {
+        // The timer frequency is manually adjusted below, so the 1KHz setting here is a
+        // dont-care.
+        let mut timer2 =
+            device
+                .TIM2
+                .timer(1.khz(), ccdr.peripheral.TIM2, &ccdr.clocks);
+
+        // 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);
+        sampling_timer.set_period_ticks((ADC_SAMPLE_TICKS - 1) as u32);
+
+        // The sampling timer is used as the master timer for the shadow-sampling timer. Thus,
+        // it generates a trigger whenever it is enabled.
+
+        sampling_timer
+    };
+
+    let mut shadow_sampling_timer = {
+        // The timer frequency is manually adjusted below, so the 1KHz setting here is a
+        // dont-care.
+        let mut timer3 =
+            device
+                .TIM3
+                .timer(1.khz(), ccdr.peripheral.TIM3, &ccdr.clocks);
+
+        // Configure the timer to count at the designed tick rate. We will manually set the
+        // period below.
+        timer3.pause();
+        timer3.reset_counter();
+        timer3.set_tick_freq(design_parameters::TIMER_FREQUENCY);
+
+        let mut shadow_sampling_timer =
+            timers::ShadowSamplingTimer::new(timer3);
+        shadow_sampling_timer.set_period_ticks(ADC_SAMPLE_TICKS - 1);
+
+        // The shadow sampling timer is a slave-mode timer to the sampling timer. It should
+        // always be in-sync - thus, we configure it to operate in slave mode using "Trigger
+        // mode".
+        // For TIM3, TIM2 can be made the internal trigger connection using ITR1. Thus, the
+        // SamplingTimer start now gates the start of the ShadowSamplingTimer.
+        shadow_sampling_timer.set_slave_mode(
+            timers::TriggerSource::Trigger1,
+            timers::SlaveMode::Trigger,
+        );
+
+        shadow_sampling_timer
+    };
+
+    let sampling_timer_channels = sampling_timer.channels();
+    let shadow_sampling_timer_channels = shadow_sampling_timer.channels();
+
+    let mut timestamp_timer = {
+        // The timer frequency is manually adjusted below, so the 1KHz setting here is a
+        // dont-care.
+        let mut timer5 =
+            device
+                .TIM5
+                .timer(1.khz(), ccdr.peripheral.TIM5, &ccdr.clocks);
+
+        // Configure the timer to count at the designed tick rate. We will manually set the
+        // period below.
+        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
+        // batch size. To accomodate this, we manually set the prescaler identical to the sample
+        // timer, but use a period that is longer.
+        let mut timer = timers::TimestampTimer::new(timer5);
+
+        let period = digital_input_stamper::calculate_timestamp_timer_period();
+        timer.set_period_ticks(period);
+
+        timer
+    };
+
+    let timestamp_timer_channels = timestamp_timer.channels();
+
+    // Configure the SPI interfaces to the ADCs and DACs.
+    let adcs = {
+        let adc0 = {
+            let spi_miso = gpiob
+                .pb14
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_sck = gpiob
+                .pb10
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _spi_nss = gpiob
+                .pb9
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+
+            let config = hal::spi::Config::new(hal::spi::Mode {
+                polarity: hal::spi::Polarity::IdleHigh,
+                phase: hal::spi::Phase::CaptureOnSecondTransition,
+            })
+            .manage_cs()
+            .suspend_when_inactive()
+            .communication_mode(hal::spi::CommunicationMode::Receiver)
+            .cs_delay(design_parameters::ADC_SETUP_TIME);
+
+            let spi: hal::spi::Spi<_, _, u16> = device.SPI2.spi(
+                (spi_sck, spi_miso, hal::spi::NoMosi),
+                config,
+                design_parameters::ADC_DAC_SCK_MAX,
+                ccdr.peripheral.SPI2,
+                &ccdr.clocks,
+            );
+
+            adc::Adc0Input::new(
+                spi,
+                dma_streams.0,
+                dma_streams.1,
+                dma_streams.2,
+                sampling_timer_channels.ch1,
+                shadow_sampling_timer_channels.ch1,
+            )
+        };
+
+        let adc1 = {
+            let spi_miso = gpiob
+                .pb4
+                .into_alternate_af6()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_sck = gpioc
+                .pc10
+                .into_alternate_af6()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _spi_nss = gpioa
+                .pa15
+                .into_alternate_af6()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+
+            let config = hal::spi::Config::new(hal::spi::Mode {
+                polarity: hal::spi::Polarity::IdleHigh,
+                phase: hal::spi::Phase::CaptureOnSecondTransition,
+            })
+            .manage_cs()
+            .suspend_when_inactive()
+            .communication_mode(hal::spi::CommunicationMode::Receiver)
+            .cs_delay(design_parameters::ADC_SETUP_TIME);
+
+            let spi: hal::spi::Spi<_, _, u16> = device.SPI3.spi(
+                (spi_sck, spi_miso, hal::spi::NoMosi),
+                config,
+                design_parameters::ADC_DAC_SCK_MAX,
+                ccdr.peripheral.SPI3,
+                &ccdr.clocks,
+            );
+
+            adc::Adc1Input::new(
+                spi,
+                dma_streams.3,
+                dma_streams.4,
+                dma_streams.5,
+                sampling_timer_channels.ch2,
+                shadow_sampling_timer_channels.ch2,
+            )
+        };
+
+        (adc0, adc1)
+    };
+
+    let dacs = {
+        let _dac_clr_n = gpioe.pe12.into_push_pull_output().set_high().unwrap();
+        let _dac0_ldac_n =
+            gpioe.pe11.into_push_pull_output().set_low().unwrap();
+        let _dac1_ldac_n =
+            gpioe.pe15.into_push_pull_output().set_low().unwrap();
+
+        let dac0_spi = {
+            let spi_miso = gpioe
+                .pe5
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_sck = gpioe
+                .pe2
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _spi_nss = gpioe
+                .pe4
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+
+            let config = hal::spi::Config::new(hal::spi::Mode {
+                polarity: hal::spi::Polarity::IdleHigh,
+                phase: hal::spi::Phase::CaptureOnSecondTransition,
+            })
+            .manage_cs()
+            .suspend_when_inactive()
+            .communication_mode(hal::spi::CommunicationMode::Transmitter)
+            .swap_mosi_miso();
+
+            device.SPI4.spi(
+                (spi_sck, spi_miso, hal::spi::NoMosi),
+                config,
+                design_parameters::ADC_DAC_SCK_MAX,
+                ccdr.peripheral.SPI4,
+                &ccdr.clocks,
+            )
+        };
+
+        let dac1_spi = {
+            let spi_miso = gpiof
+                .pf8
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_sck = gpiof
+                .pf7
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _spi_nss = gpiof
+                .pf6
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+
+            let config = hal::spi::Config::new(hal::spi::Mode {
+                polarity: hal::spi::Polarity::IdleHigh,
+                phase: hal::spi::Phase::CaptureOnSecondTransition,
+            })
+            .manage_cs()
+            .communication_mode(hal::spi::CommunicationMode::Transmitter)
+            .suspend_when_inactive()
+            .swap_mosi_miso();
+
+            device.SPI5.spi(
+                (spi_sck, spi_miso, hal::spi::NoMosi),
+                config,
+                design_parameters::ADC_DAC_SCK_MAX,
+                ccdr.peripheral.SPI5,
+                &ccdr.clocks,
+            )
+        };
+
+        let dac0 = dac::Dac0Output::new(
+            dac0_spi,
+            dma_streams.6,
+            sampling_timer_channels.ch3,
+        );
+        let dac1 = dac::Dac1Output::new(
+            dac1_spi,
+            dma_streams.7,
+            sampling_timer_channels.ch4,
+        );
+        (dac0, dac1)
+    };
+
+    let afes = {
+        let afe0 = {
+            let a0_pin = gpiof.pf2.into_push_pull_output();
+            let a1_pin = gpiof.pf5.into_push_pull_output();
+            afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
+        };
+
+        let afe1 = {
+            let a0_pin = gpiod.pd14.into_push_pull_output();
+            let a1_pin = gpiod.pd15.into_push_pull_output();
+            afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
+        };
+
+        (afe0, afe1)
+    };
+
+    let input_stamper = {
+        let trigger = gpioa.pa3.into_alternate_af2();
+        digital_input_stamper::InputStamper::new(
+            trigger,
+            timestamp_timer_channels.ch4,
+        )
+    };
+
+    let mut eeprom_i2c = {
+        let sda = gpiof.pf0.into_alternate_af4().set_open_drain();
+        let scl = gpiof.pf1.into_alternate_af4().set_open_drain();
+        device.I2C2.i2c(
+            (scl, sda),
+            100.khz(),
+            ccdr.peripheral.I2C2,
+            &ccdr.clocks,
+        )
+    };
+
+    // Configure ethernet pins.
+    {
+        // Reset the PHY before configuring pins.
+        let mut eth_phy_nrst = gpioe.pe3.into_push_pull_output();
+        eth_phy_nrst.set_low().unwrap();
+        delay.delay_us(200u8);
+        eth_phy_nrst.set_high().unwrap();
+        let _rmii_ref_clk = gpioa
+            .pa1
+            .into_alternate_af11()
+            .set_speed(hal::gpio::Speed::VeryHigh);
+        let _rmii_mdio = gpioa
+            .pa2
+            .into_alternate_af11()
+            .set_speed(hal::gpio::Speed::VeryHigh);
+        let _rmii_mdc = gpioc
+            .pc1
+            .into_alternate_af11()
+            .set_speed(hal::gpio::Speed::VeryHigh);
+        let _rmii_crs_dv = gpioa
+            .pa7
+            .into_alternate_af11()
+            .set_speed(hal::gpio::Speed::VeryHigh);
+        let _rmii_rxd0 = gpioc
+            .pc4
+            .into_alternate_af11()
+            .set_speed(hal::gpio::Speed::VeryHigh);
+        let _rmii_rxd1 = gpioc
+            .pc5
+            .into_alternate_af11()
+            .set_speed(hal::gpio::Speed::VeryHigh);
+        let _rmii_tx_en = gpiob
+            .pb11
+            .into_alternate_af11()
+            .set_speed(hal::gpio::Speed::VeryHigh);
+        let _rmii_txd0 = gpiob
+            .pb12
+            .into_alternate_af11()
+            .set_speed(hal::gpio::Speed::VeryHigh);
+        let _rmii_txd1 = gpiog
+            .pg14
+            .into_alternate_af11()
+            .set_speed(hal::gpio::Speed::VeryHigh);
+    }
+
+    let mac_addr = match eeprom::read_eui48(&mut eeprom_i2c) {
+        Err(_) => {
+            info!("Could not read EEPROM, using default MAC address");
+            smoltcp::wire::EthernetAddress([0x10, 0xE2, 0xD5, 0x00, 0x03, 0x00])
+        }
+        Ok(raw_mac) => smoltcp::wire::EthernetAddress(raw_mac),
+    };
+
+    let network_devices = {
+        // Configure the ethernet controller
+        let (eth_dma, eth_mac) = unsafe {
+            ethernet::new_unchecked(
+                device.ETHERNET_MAC,
+                device.ETHERNET_MTL,
+                device.ETHERNET_DMA,
+                &mut DES_RING,
+                mac_addr,
+                ccdr.peripheral.ETH1MAC,
+                &ccdr.clocks,
+            )
+        };
+
+        // Reset and initialize the ethernet phy.
+        let mut lan8742a =
+            ethernet::phy::LAN8742A::new(eth_mac.set_phy_addr(0));
+        lan8742a.phy_reset();
+        lan8742a.phy_init();
+
+        unsafe { ethernet::enable_interrupt() };
+
+        let store = unsafe { &mut NET_STORE };
+
+        store.ip_addrs[0] = smoltcp::wire::IpCidr::new(
+            smoltcp::wire::IpAddress::v4(10, 0, 16, 99),
+            24,
+        );
+
+        let default_v4_gw = Ipv4Address::new(10, 0, 16, 1);
+        let mut routes = Routes::new(&mut store.routes_storage[..]);
+        routes.add_default_ipv4_route(default_v4_gw).unwrap();
+
+        let neighbor_cache =
+            smoltcp::iface::NeighborCache::new(&mut store.neighbor_cache[..]);
+
+        let interface = smoltcp::iface::EthernetInterfaceBuilder::new(eth_dma)
+            .ethernet_addr(mac_addr)
+            .neighbor_cache(neighbor_cache)
+            .ip_addrs(&mut store.ip_addrs[..])
+            .routes(routes)
+            .finalize();
+
+        NetworkDevices {
+            interface,
+            phy: lan8742a,
+        }
+    };
+
+    let mut fp_led_0 = gpiod.pd5.into_push_pull_output();
+    let mut fp_led_1 = gpiod.pd6.into_push_pull_output();
+    let mut fp_led_2 = gpiog.pg4.into_push_pull_output();
+    let mut fp_led_3 = gpiod.pd12.into_push_pull_output();
+
+    fp_led_0.set_low().unwrap();
+    fp_led_1.set_low().unwrap();
+    fp_led_2.set_low().unwrap();
+    fp_led_3.set_low().unwrap();
+
+    let stabilizer = StabilizerDevices {
+        afes,
+        adcs,
+        dacs,
+        timestamper: input_stamper,
+        net: network_devices,
+        adc_dac_timer: sampling_timer,
+        timestamp_timer,
+    };
+
+    // Measure the Pounder PGOOD output to detect if pounder is present on Stabilizer.
+    let pounder_pgood = gpiob.pb13.into_pull_down_input();
+    delay.delay_ms(2u8);
+    let pounder = if pounder_pgood.is_high().unwrap() {
+        let ad9959 = {
+            let qspi_interface = {
+                // Instantiate the QUADSPI pins and peripheral interface.
+                let qspi_pins = {
+                    let _qspi_ncs = gpioc
+                        .pc11
+                        .into_alternate_af9()
+                        .set_speed(hal::gpio::Speed::VeryHigh);
+
+                    let clk = gpiob
+                        .pb2
+                        .into_alternate_af9()
+                        .set_speed(hal::gpio::Speed::VeryHigh);
+                    let io0 = gpioe
+                        .pe7
+                        .into_alternate_af10()
+                        .set_speed(hal::gpio::Speed::VeryHigh);
+                    let io1 = gpioe
+                        .pe8
+                        .into_alternate_af10()
+                        .set_speed(hal::gpio::Speed::VeryHigh);
+                    let io2 = gpioe
+                        .pe9
+                        .into_alternate_af10()
+                        .set_speed(hal::gpio::Speed::VeryHigh);
+                    let io3 = gpioe
+                        .pe10
+                        .into_alternate_af10()
+                        .set_speed(hal::gpio::Speed::VeryHigh);
+
+                    (clk, io0, io1, io2, io3)
+                };
+
+                let qspi = hal::qspi::Qspi::bank2(
+                    device.QUADSPI,
+                    qspi_pins,
+                    design_parameters::POUNDER_QSPI_FREQUENCY,
+                    &ccdr.clocks,
+                    ccdr.peripheral.QSPI,
+                );
+
+                pounder::QspiInterface::new(qspi).unwrap()
+            };
+
+            #[cfg(feature = "pounder_v1_1")]
+            let reset_pin = gpiog.pg6.into_push_pull_output();
+            #[cfg(not(feature = "pounder_v1_1"))]
+            let reset_pin = gpioa.pa0.into_push_pull_output();
+
+            let mut io_update = gpiog.pg7.into_push_pull_output();
+
+            let ref_clk: hal::time::Hertz =
+                design_parameters::DDS_REF_CLK.into();
+
+            let ad9959 = ad9959::Ad9959::new(
+                qspi_interface,
+                reset_pin,
+                &mut io_update,
+                &mut delay,
+                ad9959::Mode::FourBitSerial,
+                ref_clk.0 as f32,
+                design_parameters::DDS_MULTIPLIER,
+            )
+            .unwrap();
+
+            // Return IO_Update
+            gpiog.pg7 = io_update.into_analog();
+
+            ad9959
+        };
+
+        let io_expander = {
+            let sda = gpiob.pb7.into_alternate_af4().set_open_drain();
+            let scl = gpiob.pb8.into_alternate_af4().set_open_drain();
+            let i2c1 = device.I2C1.i2c(
+                (scl, sda),
+                100.khz(),
+                ccdr.peripheral.I2C1,
+                &ccdr.clocks,
+            );
+            mcp23017::MCP23017::default(i2c1).unwrap()
+        };
+
+        let spi = {
+            let spi_mosi = gpiod
+                .pd7
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_miso = gpioa
+                .pa6
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_sck = gpiog
+                .pg11
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+
+            let config = hal::spi::Config::new(hal::spi::Mode {
+                polarity: hal::spi::Polarity::IdleHigh,
+                phase: hal::spi::Phase::CaptureOnSecondTransition,
+            });
+
+            // The maximum frequency of this SPI must be limited due to capacitance on the MISO
+            // line causing a long RC decay.
+            device.SPI1.spi(
+                (spi_sck, spi_miso, spi_mosi),
+                config,
+                5.mhz(),
+                ccdr.peripheral.SPI1,
+                &ccdr.clocks,
+            )
+        };
+
+        let (adc1, adc2) = {
+            let (mut adc1, mut adc2) = hal::adc::adc12(
+                device.ADC1,
+                device.ADC2,
+                &mut delay,
+                ccdr.peripheral.ADC12,
+                &ccdr.clocks,
+            );
+
+            let adc1 = {
+                adc1.calibrate();
+                adc1.enable()
+            };
+
+            let adc2 = {
+                adc2.calibrate();
+                adc2.enable()
+            };
+
+            (adc1, adc2)
+        };
+
+        let adc1_in_p = gpiof.pf11.into_analog();
+        let adc2_in_p = gpiof.pf14.into_analog();
+
+        let pounder_devices = pounder::PounderDevices::new(
+            io_expander,
+            spi,
+            adc1,
+            adc2,
+            adc1_in_p,
+            adc2_in_p,
+        )
+        .unwrap();
+
+        let dds_output = {
+            let io_update_trigger = {
+                let _io_update = gpiog
+                    .pg7
+                    .into_alternate_af2()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
+
+                // Configure the IO_Update signal for the DDS.
+                let mut hrtimer = pounder::hrtimer::HighResTimerE::new(
+                    device.HRTIM_TIME,
+                    device.HRTIM_MASTER,
+                    device.HRTIM_COMMON,
+                    ccdr.clocks,
+                    ccdr.peripheral.HRTIM,
+                );
+
+                // IO_Update occurs after a fixed delay from the QSPI write. Note that the timer
+                // is triggered after the QSPI write, which can take approximately 120nS, so
+                // there is additional margin.
+                hrtimer.configure_single_shot(
+                    pounder::hrtimer::Channel::Two,
+                    design_parameters::POUNDER_IO_UPDATE_DURATION,
+                    design_parameters::POUNDER_IO_UPDATE_DELAY,
+                );
+
+                // Ensure that we have enough time for an IO-update every sample.
+                let sample_frequency = {
+                    let timer_frequency: hal::time::Hertz =
+                        design_parameters::TIMER_FREQUENCY.into();
+                    timer_frequency.0 as f32 / ADC_SAMPLE_TICKS as f32
+                };
+
+                let sample_period = 1.0 / sample_frequency;
+                assert!(
+                    sample_period > design_parameters::POUNDER_IO_UPDATE_DELAY
+                );
+
+                hrtimer
+            };
+
+            let (qspi, config) = ad9959.freeze();
+            DdsOutput::new(qspi, io_update_trigger, config)
+        };
+
+        #[cfg(feature = "pounder_v1_1")]
+        let pounder_stamper = {
+            let dma2_streams = hal::dma::dma::StreamsTuple::new(
+                device.DMA2,
+                ccdr.peripheral.DMA2,
+            );
+
+            let etr_pin = gpioa.pa0.into_alternate_af3();
+
+            // The frequency in the constructor is dont-care, as we will modify the period + clock
+            // source manually below.
+            let tim8 =
+                device
+                    .TIM8
+                    .timer(1.khz(), ccdr.peripheral.TIM8, &ccdr.clocks);
+            let mut timestamp_timer = timers::PounderTimestampTimer::new(tim8);
+
+            // Pounder is configured to generate a 500MHz reference clock, so a 125MHz sync-clock is
+            // output. As a result, dividing the 125MHz sync-clk provides a 31.25MHz tick rate for
+            // the timestamp timer. 31.25MHz corresponds with a 32ns tick rate.
+            timestamp_timer.set_external_clock(timers::Prescaler::Div4);
+            timestamp_timer.start();
+
+            // We want the pounder timestamp timer to overflow once per batch.
+            let tick_ratio = {
+                let sync_clk_mhz: f32 = design_parameters::DDS_SYSTEM_CLK.0
+                    as f32
+                    / design_parameters::DDS_SYNC_CLK_DIV as f32;
+                sync_clk_mhz / design_parameters::TIMER_FREQUENCY.0 as f32
+            };
+
+            let period = (tick_ratio
+                * ADC_SAMPLE_TICKS as f32
+                * SAMPLE_BUFFER_SIZE as f32) as u32
+                / 4;
+            timestamp_timer.set_period_ticks((period - 1).try_into().unwrap());
+            let tim8_channels = timestamp_timer.channels();
+
+            pounder::timestamp::Timestamper::new(
+                timestamp_timer,
+                dma2_streams.0,
+                tim8_channels.ch1,
+                &mut sampling_timer,
+                etr_pin,
+            )
+        };
+
+        Some(PounderDevices {
+            pounder: pounder_devices,
+            dds_output,
+
+            #[cfg(feature = "pounder_v1_1")]
+            timestamper: pounder_stamper,
+        })
+    } else {
+        None
+    };
+
+    // info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
+    // info!("Built on {}", build_info::BUILT_TIME_UTC);
+    // info!("{} {}", build_info::RUSTC_VERSION, build_info::TARGET);
+
+    // Enable the instruction cache.
+    core.SCB.enable_icache();
+
+    // Utilize the cycle counter for RTIC scheduling.
+    core.DWT.enable_cycle_counter();
+
+    (stabilizer, pounder)
+}

src/hardware/dac.rs

@@ -50,9 +50,15 @@
 ///! While double-buffered mode is used for DMA to avoid lost DAC-update events, there is no check
 ///! for re-use of a previously provided DAC output buffer. It is assumed that the DMA request is
 ///! served promptly after the transfer completes.
-use super::{
+use stm32h7xx_hal as hal;
-    hal, timers, DMAReq, DmaConfig, MemoryToPeripheral, TargetAddress,
+
-    Transfer, SAMPLE_BUFFER_SIZE,
+use crate::SAMPLE_BUFFER_SIZE;
+
+use super::timers;
+use hal::dma::{
+    dma::{DMAReq, DmaConfig},
+    traits::TargetAddress,
+    MemoryToPeripheral, Transfer,
 };
 
 // The following global buffers are used for the DAC code DMA transfers. Two buffers are used for
@@ -158,7 +164,7 @@ macro_rules! dac_output {
                 }
 
                 // Construct the trigger stream to write from memory to the peripheral.
-                let mut transfer: Transfer<_, _, MemoryToPeripheral, _> =
+                let transfer: Transfer<_, _, MemoryToPeripheral, _> =
                     Transfer::init(
                         stream,
                         $spi::new(trigger_channel, spi),
@@ -169,8 +175,6 @@ macro_rules! dac_output {
                         trigger_config,
                     );
 
-                transfer.start(|spi| spi.start_dma());
-
                 Self {
                     transfer,
                     // Note(unsafe): This buffer is only used once and provided for the next DMA transfer.
@@ -178,6 +182,10 @@ macro_rules! dac_output {
                 }
             }
 
+            pub fn start(&mut self) {
+                self.transfer.start(|spi| spi.start_dma());
+            }
+
             /// Acquire the next output buffer to populate it with DAC codes.
             pub fn acquire_buffer(&mut self) -> &mut [u16; SAMPLE_BUFFER_SIZE] {
                 // Note: If a device hangs up, check that this conditional is passing correctly, as

src/hardware/design_parameters.rs

@@ -1,4 +1,4 @@
-use super::hal::time::MegaHertz;
+use stm32h7xx_hal::time::MegaHertz;
 
 /// The ADC setup time is the number of seconds after the CSn line goes low before the serial clock
 /// may begin. This is used for performing the internal ADC conversion.
@@ -17,13 +17,13 @@ pub const POUNDER_QSPI_FREQUENCY: MegaHertz = MegaHertz(40);
 // Pounder Profile writes are always 16 bytes, with 2 cycles required per byte, coming out to a
 // total of 32 QSPI clock cycles. The QSPI is configured for 40MHz, so this comes out to an offset
 // of 800nS. We use 900ns to be safe.
-pub const POUNDER_IO_UPDATE_DELAY: f32 = 900_e-9;
+pub const POUNDER_IO_UPDATE_DELAY: f32 = 900e-9;
 
 /// The duration to assert IO_Update for the pounder DDS.
 // IO_Update should be latched for 4 SYNC_CLK cycles after the QSPI profile write. With pounder
 // SYNC_CLK running at 100MHz (1/4 of the pounder reference clock of 500MHz), this corresponds to
 // 32ns. To accomodate rounding errors, we use 50ns instead.
-pub const POUNDER_IO_UPDATE_DURATION: f32 = 50_e-9;
+pub const POUNDER_IO_UPDATE_DURATION: f32 = 50e-9;
 
 /// The DDS reference clock frequency in MHz.
 pub const DDS_REF_CLK: MegaHertz = MegaHertz(100);

src/hardware/digital_input_stamper.rs

@@ -24,7 +24,8 @@
 ///!
 ///! 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, ADC_SAMPLE_TICKS, SAMPLE_BUFFER_SIZE};
+use super::{hal, timers};
+use crate::{ADC_SAMPLE_TICKS, SAMPLE_BUFFER_SIZE};
 
 /// Calculate the period of the digital input timestamp timer.
 ///
@@ -89,6 +90,7 @@ impl InputStamper {
     }
 
     /// Start to capture timestamps on DI0.
+    #[allow(dead_code)]
     pub fn start(&mut self) {
         self.capture_channel.enable();
     }
@@ -101,6 +103,7 @@ impl InputStamper {
     ///
     /// To prevent timestamp loss, the batch size and sampling rate must be adjusted such that at
     /// most one timestamp will occur in each data processing cycle.
+    #[allow(dead_code)]
     pub fn latest_timestamp(&mut self) -> Option<u32> {
         self.capture_channel
             .latest_capture()

src/hardware/eeprom.rs

@@ -2,7 +2,6 @@ use embedded_hal::blocking::i2c::WriteRead;
 
 const I2C_ADDR: u8 = 0x50;
 
-#[allow(dead_code)]
 pub fn read_eui48<T>(i2c: &mut T) -> Result<[u8; 6], T::Error>
 where
     T: WriteRead,

src/hardware/mod.rs

@@ -0,0 +1,63 @@
+///! Module for all hardware-specific setup of Stabilizer
+use stm32h7xx_hal as hal;
+
+mod adc;
+mod afe;
+mod configuration;
+mod dac;
+mod design_parameters;
+mod digital_input_stamper;
+mod eeprom;
+mod pounder;
+mod timers;
+
+pub use adc::{Adc0Input, Adc1Input};
+pub use afe::Gain as AfeGain;
+pub use dac::{Dac0Output, Dac1Output};
+pub use pounder::DdsOutput;
+
+// Type alias for the analog front-end (AFE) for ADC0.
+pub type AFE0 = afe::ProgrammableGainAmplifier<
+    hal::gpio::gpiof::PF2<hal::gpio::Output<hal::gpio::PushPull>>,
+    hal::gpio::gpiof::PF5<hal::gpio::Output<hal::gpio::PushPull>>,
+>;
+
+// Type alias for the analog front-end (AFE) for ADC1.
+pub type AFE1 = afe::ProgrammableGainAmplifier<
+    hal::gpio::gpiod::PD14<hal::gpio::Output<hal::gpio::PushPull>>,
+    hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>,
+>;
+
+// Type alias for the ethernet interface on Stabilizer.
+pub type Ethernet = smoltcp::iface::EthernetInterface<
+    'static,
+    'static,
+    'static,
+    hal::ethernet::EthernetDMA<'static>,
+>;
+
+pub use configuration::{setup, PounderDevices, StabilizerDevices};
+
+#[inline(never)]
+#[panic_handler]
+#[cfg(all(feature = "nightly", not(feature = "semihosting")))]
+fn panic(_info: &core::panic::PanicInfo) -> ! {
+    let gpiod = unsafe { &*hal::stm32::GPIOD::ptr() };
+    gpiod.odr.modify(|_, w| w.odr6().high().odr12().high()); // FP_LED_1, FP_LED_3
+    #[cfg(feature = "nightly")]
+    core::intrinsics::abort();
+    #[cfg(not(feature = "nightly"))]
+    unsafe {
+        core::intrinsics::abort();
+    }
+}
+
+#[cortex_m_rt::exception]
+fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
+    panic!("HardFault at {:#?}", ef);
+}
+
+#[cortex_m_rt::exception]
+fn DefaultHandler(irqn: i16) {
+    panic!("Unhandled exception (IRQn = {})", irqn);
+}

src/hardware/pounder/dds_output.rs

@@ -52,8 +52,7 @@
 ///! compile-time-known register update sequence needed for the application, the serialization
 ///! process can be done once and then register values can be written into a pre-computed serialized
 ///! buffer to avoid the software overhead of much of the serialization process.
-use super::QspiInterface;
+use super::{hrtimer::HighResTimerE, QspiInterface};
-use crate::hrtimer::HighResTimerE;
 use ad9959::{Channel, DdsConfig, ProfileSerializer};
 use stm32h7xx_hal as hal;
 
@@ -90,6 +89,7 @@ impl DdsOutput {
     }
 
     /// Get a builder for serializing a Pounder DDS profile.
+    #[allow(dead_code)]
     pub fn builder(&mut self) -> ProfileBuilder {
         let builder = self.config.builder();
         ProfileBuilder {
@@ -145,6 +145,7 @@ impl<'a> ProfileBuilder<'a> {
     /// * `ftw` - If provided, indicates a frequency tuning word for the channels.
     /// * `pow` - If provided, indicates a phase offset word for the channels.
     /// * `acr` - If provided, indicates the amplitude control register for the channels.
+    #[allow(dead_code)]
     pub fn update_channels(
         mut self,
         channels: &[Channel],
@@ -157,6 +158,7 @@ impl<'a> ProfileBuilder<'a> {
     }
 
     /// Write the profile to the DDS asynchronously.
+    #[allow(dead_code)]
     pub fn write_profile(mut self) {
         let profile = self.serializer.finalize();
         self.dds_stream.write_profile(profile);

src/hardware/pounder/hrtimer.rs

@@ -1,8 +1,11 @@
 ///! The HRTimer (High Resolution Timer) is used to generate IO_Update pulses to the Pounder DDS.
-use crate::hal;
+use stm32h7xx_hal::{
-use hal::rcc::{rec, CoreClocks, ResetEnable};
+    self as hal,
+    rcc::{rec, CoreClocks, ResetEnable},
+};
 
 /// A HRTimer output channel.
+#[allow(dead_code)]
 pub enum Channel {
     One,
     Two,

src/hardware/pounder/mod.rs

@@ -2,7 +2,10 @@ use serde::{Deserialize, Serialize};
 
 mod attenuators;
 mod dds_output;
+pub mod hrtimer;
 mod rf_power;
+
+#[cfg(feature = "pounder_v1_1")]
 pub mod timestamp;
 
 pub use dds_output::DdsOutput;
@@ -27,13 +30,11 @@ const ATT_LE0_PIN: u8 = 8;
 pub enum Error {
     Spi,
     I2c,
-    Dds,
     Qspi,
     Bounds,
     InvalidAddress,
     InvalidChannel,
     Adc,
-    Access,
 }
 
 #[derive(Debug, Copy, Clone)]

src/hardware/pounder/timestamp.rs

@@ -26,7 +26,7 @@ use stm32h7xx_hal as hal;
 
 use hal::dma::{dma::DmaConfig, PeripheralToMemory, Transfer};
 
-use crate::{timers, SAMPLE_BUFFER_SIZE};
+use crate::{hardware::timers, SAMPLE_BUFFER_SIZE};
 
 // Three buffers are required for double buffered mode - 2 are owned by the DMA stream and 1 is the
 // working data provided to the application. These buffers must exist in a DMA-accessible memory
@@ -89,7 +89,7 @@ impl Timestamper {
         input_capture.listen_dma();
 
         // The data transfer is always a transfer of data from the peripheral to a RAM buffer.
-        let mut data_transfer: Transfer<_, _, PeripheralToMemory, _> =
+        let data_transfer: Transfer<_, _, PeripheralToMemory, _> =
             Transfer::init(
                 stream,
                 input_capture,
@@ -100,8 +100,6 @@ impl Timestamper {
                 config,
             );
 
-        data_transfer.start(|capture_channel| capture_channel.enable());
-
         Self {
             timer: timestamp_timer,
             transfer: data_transfer,
@@ -112,6 +110,12 @@ impl Timestamper {
         }
     }
 
+    /// Start the DMA transfer for collecting timestamps.
+    pub fn start(&mut self) {
+        self.transfer
+            .start(|capture_channel| capture_channel.enable());
+    }
+
     /// Update the period of the underlying timestamp timer.
     pub fn update_period(&mut self, period: u16) {
         self.timer.set_period_ticks(period);

src/hardware/timers.rs

@@ -32,6 +32,7 @@ pub enum TriggerSource {
 }
 
 /// Prescalers for externally-supplied reference clocks.
+#[allow(dead_code)]
 pub enum Prescaler {
     Div1 = 0b00,
     Div2 = 0b01,
@@ -40,6 +41,7 @@ pub enum Prescaler {
 }
 
 /// Optional slave operation modes of a timer.
+#[allow(dead_code)]
 pub enum SlaveMode {
     Disabled = 0,
     Trigger = 0b0110,

src/server.rs

@@ -7,7 +7,61 @@ use serde::{Deserialize, Serialize};
 use serde_json_core::{de::from_slice, ser::to_string};
 
 use super::iir;
-use super::net;
+use smoltcp as net;
+
+macro_rules! route_request {
+    ($request:ident,
+            readable_attributes: [$($read_attribute:tt: $getter:tt),*],
+            modifiable_attributes: [$($write_attribute:tt: $TYPE:ty, $setter:tt),*]) => {
+        match $request.req {
+            server::AccessRequest::Read => {
+                match $request.attribute {
+                $(
+                    $read_attribute => {
+                        #[allow(clippy::redundant_closure_call)]
+                        let value = match $getter() {
+                            Ok(data) => data,
+                            Err(_) => return server::Response::error($request.attribute,
+                                                                     "Failed to read attribute"),
+                        };
+
+                        let encoded_data: String<U256> = match serde_json_core::to_string(&value) {
+                            Ok(data) => data,
+                            Err(_) => return server::Response::error($request.attribute,
+                                    "Failed to encode attribute value"),
+                        };
+
+                        server::Response::success($request.attribute, &encoded_data)
+                    },
+                 )*
+                    _ => server::Response::error($request.attribute, "Unknown attribute")
+                }
+            },
+            server::AccessRequest::Write => {
+                match $request.attribute {
+                $(
+                    $write_attribute => {
+                        let new_value = match serde_json_core::from_str::<$TYPE>(&$request.value) {
+                            Ok(data) => data,
+                            Err(_) => return server::Response::error($request.attribute,
+                                    "Failed to decode value"),
+                        };
+
+                        #[allow(clippy::redundant_closure_call)]
+                        match $setter(new_value) {
+                            Ok(_) => server::Response::success($request.attribute, &$request.value),
+                            Err(_) => server::Response::error($request.attribute,
+                                    "Failed to set attribute"),
+                        }
+                    }
+                 )*
+                    _ => server::Response::error($request.attribute, "Unknown attribute")
+                }
+            }
+        }
+    }
+}
+
 
 #[derive(Deserialize, Serialize, Debug)]
 pub enum AccessRequest {