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dual-iir: destructure resources

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This commit is contained in:
Robert Jördens 2021-05-24 22:41:22 +02:00
parent 3165c680d6
commit 2a9657f98c
1 changed files with 18 additions and 16 deletions
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34
src/bin/dual-iir.rs
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@ -123,14 +123,24 @@ const APP: () = {
/// the same time bounds, meeting one also means the other is also met.
#[task(binds=DMA1_STR4, resources=[adcs, digital_inputs, dacs, iir_state, settings, telemetry], priority=2)]
fn process(mut c: process::Context) {
let adc0 = &mut c.resources.adcs.0;
let adc1 = &mut c.resources.adcs.1;
let dac0 = &mut c.resources.dacs.0;
let dac1 = &mut c.resources.dacs.1;
let di = &c.resources.digital_inputs;
let settings = &c.resources.settings;
let iir_state = &mut c.resources.iir_state;
let telemetry = &mut c.resources.telemetry;
let process::Resources {
adcs: (ref mut adc0, ref mut adc1),
dacs: (ref mut dac0, ref mut dac1),
ref digital_inputs,
ref settings,
ref mut iir_state,
ref mut telemetry,
} = c.resources;
let digital_inputs = [
digital_inputs.0.is_high().unwrap(),
digital_inputs.1.is_high().unwrap(),
];
telemetry.digital_inputs = digital_inputs;
let hold =
settings.force_hold || (digital_inputs[1] && settings.allow_hold);
adc0.with_buffer(|a0| {
adc1.with_buffer(|a1| {
dac0.with_buffer(|d0| {
@ -138,12 +148,6 @@ const APP: () = {
let adc_samples = [a0, a1];
let dac_samples = [d0, d1];
let digital_inputs =
[di.0.is_high().unwrap(), di.1.is_high().unwrap()];
let hold = settings.force_hold
|| (digital_inputs[1] && settings.allow_hold);
// Preserve instruction and data ordering w.r.t. DMA flag access.
fence(Ordering::SeqCst);
@ -181,8 +185,6 @@ const APP: () = {
DacCode(dac_samples[1][0]),
];
telemetry.digital_inputs = digital_inputs;
// Preserve instruction and data ordering w.r.t. DMA flag access.
fence(Ordering::SeqCst);
})