From 2bfed7b66971211bdb90220345a0b7fdb895f05f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Robert=20J=C3=B6rdens?= Date: Wed, 14 Apr 2021 16:09:54 +0200 Subject: [PATCH] dual-iir: add enable_hold, force_hold * Also use Settings as resource directly and copy it bulk (like lockin-external) --- src/bin/dual-iir.rs | 27 ++++++++++++++++++--------- 1 file changed, 18 insertions(+), 9 deletions(-) diff --git a/src/bin/dual-iir.rs b/src/bin/dual-iir.rs index 520d5ec..0dc9818 100644 --- a/src/bin/dual-iir.rs +++ b/src/bin/dual-iir.rs @@ -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]);