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dual-iir: add enable_hold, force_hold

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* Also use Settings as resource directly and copy it bulk (like
  lockin-external)
This commit is contained in:
Robert Jördens 2021-04-14 16:09:54 +02:00
parent bf5f6afbc1
commit 2bfed7b669
1 changed files with 18 additions and 9 deletions
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27
src/bin/dual-iir.rs
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@ -22,10 +22,12 @@ const SCALE: f32 = i16::MAX as _;
// The number of cascaded IIR biquads per channel. Select 1 or 2!
const IIR_CASCADE_LENGTH: usize = 1;
#[derive(Debug, Deserialize, Miniconf)]
#[derive(Clone, Copy, Debug, Deserialize, Miniconf)]
pub struct Settings {
afe: [AfeGain; 2],
iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
allow_hold: bool,
force_hold: bool,
}
impl Default for Settings {
@ -33,6 +35,8 @@ impl Default for Settings {
Self {
afe: [AfeGain::G1, AfeGain::G1],
iir_ch: [[iir::IIR::new(1., -SCALE, SCALE); IIR_CASCADE_LENGTH]; 2],
allow_hold: false,
force_hold: false,
}
}
}
@ -51,11 +55,10 @@ const APP: () = {
// Format: iir_state[ch][cascade-no][coeff]
#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
iir_state: [[iir::Vec5; IIR_CASCADE_LENGTH]; 2],
#[init([[iir::IIR::new(1., -SCALE, SCALE); IIR_CASCADE_LENGTH]; 2])]
iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
settings: Settings,
}
#[init]
#[init(spawn=[settings_update])]
fn init(c: init::Context) -> init::LateResources {
// Configure the microcontroller
let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
@ -78,6 +81,9 @@ const APP: () = {
.unwrap()
};
// Spawn a settings update for default settings.
c.spawn.settings_update().unwrap();
// Enable ADC/DAC events
stabilizer.adcs.0.start();
stabilizer.adcs.1.start();
@ -94,6 +100,7 @@ const APP: () = {
dacs: stabilizer.dacs,
clock: stabilizer.cycle_counter,
di1: stabilizer.digital_inputs.1,
settings: Settings::default(),
}
}
@ -113,7 +120,7 @@ const APP: () = {
///
/// 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.
#[task(binds=DMA1_STR4, resources=[adcs, di1, dacs, iir_state, iir_ch], priority=2)]
#[task(binds=DMA1_STR4, resources=[adcs, di1, dacs, iir_state, settings], priority=2)]
fn process(c: process::Context) {
let adc_samples = [
c.resources.adcs.0.acquire_buffer(),
@ -125,13 +132,15 @@ const APP: () = {
c.resources.dacs.1.acquire_buffer(),
];
let hold = c.resources.di1.is_high().unwrap();
let hold = c.resources.settings.force_hold
|| (c.resources.di1.is_high().unwrap()
&& c.resources.settings.allow_hold);
for channel in 0..adc_samples.len() {
for sample in 0..adc_samples[0].len() {
let mut y = f32::from(adc_samples[channel][sample] as i16);
for i in 0..c.resources.iir_state[channel].len() {
y = c.resources.iir_ch[channel][i].update(
y = c.resources.settings.iir_ch[channel][i].update(
&mut c.resources.iir_state[channel][i],
y,
hold,
@ -181,12 +190,12 @@ const APP: () = {
}
}
#[task(priority = 1, resources=[mqtt_interface, afes, iir_ch])]
#[task(priority = 1, resources=[mqtt_interface, afes, settings])]
fn settings_update(mut c: settings_update::Context) {
let settings = &c.resources.mqtt_interface.settings;
// Update the IIR channels.
c.resources.iir_ch.lock(|iir| *iir = settings.iir_ch);
c.resources.settings.lock(|current| *current = *settings);
// Update AFEs
c.resources.afes.0.set_gain(settings.afe[0]);