Merge branch 'master' into feature/livestream

Cargo.lock

@@ -145,18 +145,15 @@ dependencies = [
 [[package]]
 name = "cortex-m-rt"
 version = "0.6.13"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/rust-embedded/cortex-m-rt.git?rev=a2e3ad5#a2e3ad54478c6b98e519a1b0946395d790c0b6c7"
-checksum = "980c9d0233a909f355ed297ef122f257942de5e0a2cb1c39f60684b65bcb90fb"
 dependencies = [
  "cortex-m-rt-macros",
- "r0",
 ]
 
 [[package]]
 name = "cortex-m-rt-macros"
-version = "0.1.8"
+version = "0.6.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/rust-embedded/cortex-m-rt.git?rev=a2e3ad5#a2e3ad54478c6b98e519a1b0946395d790c0b6c7"
-checksum = "4717562afbba06e760d34451919f5c3bf3ac15c7bb897e8b04862a7428378647"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -203,7 +200,7 @@ dependencies = [
 [[package]]
 name = "derive_miniconf"
 version = "0.1.0"
-source = "git+https://github.com/quartiq/miniconf.git?rev=c6f2b28#c6f2b28f735e27b337eaa986846536e904c6f2bd"
+source = "git+https://github.com/quartiq/miniconf.git?rev=2750533#275053396f0334e9efefa1ab2aae4c19b95a9a53"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -350,7 +347,6 @@ dependencies = [
  "as-slice",
  "generic-array 0.14.4",
  "hash32 0.1.1",
- "serde",
  "stable_deref_trait",
 ]
 
@@ -362,6 +358,7 @@ checksum = "c7ee8a997d259962217f40279f34201fdf06e669bafa69d7c1f4c7ff1893b5f6"
 dependencies = [
  "atomic-polyfill",
  "hash32 0.2.1",
+ "serde",
  "stable_deref_trait",
 ]
 
@@ -416,7 +413,7 @@ dependencies = [
 [[package]]
 name = "miniconf"
 version = "0.1.0"
-source = "git+https://github.com/quartiq/miniconf.git?rev=c6f2b28#c6f2b28f735e27b337eaa986846536e904c6f2bd"
+source = "git+https://github.com/quartiq/miniconf.git?rev=2750533#275053396f0334e9efefa1ab2aae4c19b95a9a53"
 dependencies = [
  "derive_miniconf",
  "serde",
@@ -605,12 +602,6 @@ dependencies = [
  "proc-macro2",
 ]
 
-[[package]]
-name = "r0"
-version = "0.2.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
-
 [[package]]
 name = "rand"
 version = "0.8.3"
@@ -734,11 +725,11 @@ dependencies = [
 
 [[package]]
 name = "serde-json-core"
-version = "0.3.0"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39af17f40c2a28d2c9a7918663ddc8a10f54cc6f109ead5c3f010869761df186"
+checksum = "8014aeea272bca0f0779778d43253f2f3375b414185b30e6ecc4d3e4a9994781"
 dependencies = [
- "heapless 0.6.1",
+ "heapless 0.7.1",
  "ryu",
  "serde",
 ]
@@ -797,7 +788,7 @@ dependencies = [
  "cortex-m-rtic",
  "dsp",
  "embedded-hal",
- "heapless 0.6.1",
+ "heapless 0.7.1",
  "log",
  "mcp23017",
  "miniconf",

Cargo.toml

@@ -33,7 +33,7 @@ cortex-m-rt = { version = "0.6", features = ["device"] }
 log = { version = "0.4", features = ["max_level_trace", "release_max_level_info"] }
 rtt-target = { version = "0.3", features = ["cortex-m"] }
 serde = { version = "1.0", features = ["derive"], default-features = false }
-heapless = { version = "0.6", features = ["serde"] }
+heapless = { version = "0.7", features = ["serde"] }
 cortex-m-rtic = "0.5.6"
 embedded-hal = "0.2.5"
 nb = "1.0.0"
@@ -44,13 +44,14 @@ dsp = { path = "dsp" }
 ad9959 = { path = "ad9959" }
 miniconf = "0.1.0"
 shared-bus = {version = "0.2.2", features = ["cortex-m"] }
-serde-json-core = "0.3"
+serde-json-core = "0.4"
-postcard = "0.6"
 
+# rtt-target bump
 [dependencies.rtt-logger]
 git = "https://github.com/quartiq/rtt-logger.git"
 rev = "70b0eb5"
 
+# rewrite
 [dependencies.mcp23017]
 git = "https://github.com/lucazulian/mcp23017.git"
 rev = "523d71d"
@@ -59,9 +60,14 @@ rev = "523d71d"
 features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
 version = "0.9.0"
 
+# link.x section start/end
+[patch.crates-io.cortex-m-rt]
+git = "https://github.com/rust-embedded/cortex-m-rt.git"
+rev = "a2e3ad5"
+
 [patch.crates-io.miniconf]
 git = "https://github.com/quartiq/miniconf.git"
-rev = "c6f2b28"
+rev = "2750533"
 
 [dependencies.smoltcp-nal]
 git = "https://github.com/quartiq/smoltcp-nal.git"

build.rs

@@ -0,0 +1,3 @@
+fn main() {
+    println!("cargo:rerun-if-changed=memory.x");
+}

memory.x

@@ -13,10 +13,6 @@ MEMORY
 }
 
 SECTIONS {
-  .itcm : ALIGN(8) {
-    *(.itcm .itcm.*);
-    . = ALIGN(8);
-    } > ITCM
   .axisram (NOLOAD) : ALIGN(8) {
     *(.axisram .axisram.*);
     . = ALIGN(8);
@@ -33,4 +29,18 @@ SECTIONS {
     *(.sram3 .sram3.*);
     . = ALIGN(4);
     } > SRAM3
-} INSERT AFTER .bss;
+  .itcm : ALIGN(8) {
+    . = ALIGN(8);
+    __sitcm = .;
+    *(.itcm .itcm.*);
+    . = ALIGN(8);
+    __eitcm = .;
+  } > ITCM AT>FLASH
+  __siitcm = LOADADDR(.itcm);
+} INSERT AFTER .uninit;
+
+ASSERT(__sitcm % 8 == 0 && __eitcm % 8 == 0, "
+BUG(cortex-m-rt): .itcm is not 8-byte aligned");
+
+ASSERT(__siitcm % 4 == 0, "
+BUG(cortex-m-rt): the LMA of .itcm is not 4-byte aligned");

src/bin/dual-iir.rs

@@ -129,6 +129,8 @@ 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, digital_inputs, dacs, iir_state, settings, telemetry, generator], priority=2)]
+    #[inline(never)]
+    #[link_section = ".itcm.process"]
     fn process(c: process::Context) {
         let adc_samples = [
             c.resources.adcs.0.acquire_buffer(),

src/bin/lockin.rs

@@ -157,6 +157,8 @@ const APP: () = {
     /// It outputs either I/Q or power/phase on DAC0/DAC1. Data is normalized to full scale.
     /// PLL bandwidth, filter bandwidth, slope, and x/y or power/phase post-filters are available.
     #[task(binds=DMA1_STR4, resources=[adcs, dacs, lockin, timestamper, pll, settings, telemetry], priority=2)]
+    #[inline(never)]
+    #[link_section = ".itcm.process"]
     fn process(c: process::Context) {
         let adc_samples = [
             c.resources.adcs.0.acquire_buffer(),

src/hardware/configuration.rs

@@ -126,6 +126,52 @@ pub struct PounderDevices {
 /// Static storage for the ethernet DMA descriptor ring.
 static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
 
+/// Setup ITCM and load its code from flash.
+///
+/// For portability and maintainability this is implemented in Rust.
+/// Since this is implemented in Rust the compiler may assume that bss and data are set
+/// up already. There is no easy way to ensure this implementation will never need bss
+/// or data. Hence we can't safely run this as the cortex-m-rt `pre_init` hook before
+/// bss/data is setup.
+///
+/// Calling (through IRQ or directly) any code in ITCM before having called
+/// this method is undefined.
+fn load_itcm() {
+    extern "C" {
+        static mut __sitcm: u32;
+        static mut __eitcm: u32;
+        static mut __siitcm: u32;
+    }
+    use core::{ptr, slice, sync::atomic};
+
+    // NOTE(unsafe): Assuming the address symbols from the linker as well as
+    // the source instruction data are all valid, this is safe as it only
+    // copies linker-prepared data to where the code expects it to be.
+    // Calling it multiple times is safe as well.
+
+    unsafe {
+        // ITCM is enabled on reset on our CPU but might not be on others.
+        // Keep for completeness.
+        const ITCMCR: *mut u32 = 0xE000_EF90usize as _;
+        ptr::write_volatile(ITCMCR, ptr::read_volatile(ITCMCR) | 1);
+
+        // Ensure ITCM is enabled before loading.
+        atomic::fence(atomic::Ordering::SeqCst);
+
+        let len =
+            (&__eitcm as *const u32).offset_from(&__sitcm as *const _) as usize;
+        let dst = slice::from_raw_parts_mut(&mut __sitcm as *mut _, len);
+        let src = slice::from_raw_parts(&__siitcm as *const _, len);
+        // Load code into ITCM.
+        dst.copy_from_slice(src);
+    }
+
+    // Ensure ITCM is loaded before potentially executing any instructions from it.
+    atomic::fence(atomic::Ordering::SeqCst);
+    cortex_m::asm::dsb();
+    cortex_m::asm::isb();
+}
+
 /// Configure the stabilizer hardware for operation.
 ///
 /// # Args
@@ -178,9 +224,12 @@ pub fn setup(
         log::set_logger(&LOGGER)
             .map(|()| log::set_max_level(log::LevelFilter::Trace))
             .unwrap();
-        log::info!("starting...");
+        log::info!("Starting");
     }
 
+    // Before being able to call any code in ITCM, load that code from flash.
+    load_itcm();
+
     // Set up the system timer for RTIC scheduling.
     {
         let tim15 =
@@ -906,6 +955,7 @@ pub fn setup(
 
         #[cfg(feature = "pounder_v1_1")]
         let pounder_stamper = {
+            log::info!("Assuming Pounder v1.1 or later");
             let etr_pin = gpioa.pa0.into_alternate_af3();
 
             // The frequency in the constructor is dont-care, as we will modify the period + clock
@@ -968,13 +1018,13 @@ pub fn setup(
         digital_inputs,
     };
 
+    // Enable the instruction cache.
+    core.SCB.enable_icache();
+
     // 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);
     log::info!("setup() complete");
 
-    // Enable the instruction cache.
-    core.SCB.enable_icache();
-
     (stabilizer, pounder)
 }

src/hardware/mod.rs

@@ -90,11 +90,11 @@ fn panic(info: &core::panic::PanicInfo) -> ! {
 }
 
 #[cortex_m_rt::exception]
-fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
+unsafe fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
     panic!("HardFault at {:#?}", ef);
 }
 
 #[cortex_m_rt::exception]
-fn DefaultHandler(irqn: i16) {
+unsafe fn DefaultHandler(irqn: i16) {
     panic!("Unhandled exception (IRQn = {})", irqn);
 }

src/net/data_stream.rs

@@ -8,12 +8,12 @@ use super::NetworkReference;
 use crate::hardware::design_parameters::SAMPLE_BUFFER_SIZE;
 
 // The number of data blocks that we will buffer in the queue.
-type BlockBufferSize = heapless::consts::U30;
+const BLOCK_BUFFER_SIZE: usize = 30;
 
 pub fn setup_streaming(
     stack: NetworkReference,
 ) -> (BlockGenerator, DataStream) {
-    let queue = cortex_m::singleton!(: Queue<AdcDacData, BlockBufferSize> = Queue::new()).unwrap();
+    let queue = cortex_m::singleton!(: Queue<AdcDacData, BLOCK_BUFFER_SIZE> = Queue::new()).unwrap();
 
     let (producer, consumer) = queue.split();
 
@@ -25,7 +25,7 @@ pub fn setup_streaming(
 }
 
 pub fn serialize_blocks<'a>(buffer: &'a mut [u8], max_buffer_size: usize, queue: &mut Consumer<'static,
-        AdcDacData, BlockBufferSize>) -> &'a [u8] {
+        AdcDacData, BLOCK_BUFFER_SIZE>) -> &'a [u8] {
     // While there is space in the buffer, serialize into it.
 
     let block_size = (SAMPLE_BUFFER_SIZE * 2) * 2 * 2 + 8;
@@ -69,12 +69,12 @@ pub struct AdcDacData {
 }
 
 pub struct BlockGenerator {
-    queue: Producer<'static, AdcDacData, BlockBufferSize>,
+    queue: Producer<'static, AdcDacData, BLOCK_BUFFER_SIZE>,
     current_id: u32,
 }
 
 impl BlockGenerator {
-    pub fn new(queue: Producer<'static, AdcDacData, BlockBufferSize>) -> Self {
+    pub fn new(queue: Producer<'static, AdcDacData, BLOCK_BUFFER_SIZE>) -> Self {
         Self {
             queue,
             current_id: 0,
@@ -103,7 +103,7 @@ impl BlockGenerator {
 pub struct DataStream {
     stack: NetworkReference,
     socket: Option<<NetworkReference as UdpClientStack>::UdpSocket>,
-    queue: Consumer<'static, AdcDacData, BlockBufferSize>,
+    queue: Consumer<'static, AdcDacData, BLOCK_BUFFER_SIZE>,
     remote: Option<SocketAddr>,
     buffer: [u8; 1024],
 }
@@ -138,7 +138,7 @@ impl DataBlock {
 impl DataStream {
     pub fn new(
         stack: NetworkReference,
-        consumer: Consumer<'static, AdcDacData, BlockBufferSize>,
+        consumer: Consumer<'static, AdcDacData, BLOCK_BUFFER_SIZE>,
     ) -> Self {
         Self {
             stack,

src/net/messages.rs

@@ -1,4 +1,4 @@
-use heapless::{consts, String, Vec};
+use heapless::{String, Vec};
 use serde::Serialize;
 
 use core::fmt::Write;
@@ -12,15 +12,15 @@ pub enum SettingsResponseCode {
 /// Represents a generic MQTT message.
 pub struct MqttMessage<'a> {
     pub topic: &'a str,
-    pub message: Vec<u8, consts::U128>,
+    pub message: Vec<u8, 128>,
-    pub properties: Vec<minimq::Property<'a>, consts::U1>,
+    pub properties: Vec<minimq::Property<'a>, 1>,
 }
 
 /// The payload of the MQTT response message to a settings update request.
 #[derive(Serialize)]
 pub struct SettingsResponse {
     code: u8,
-    msg: String<heapless::consts::U64>,
+    msg: String<64>,
 }
 
 impl<'a> MqttMessage<'a> {
@@ -48,8 +48,7 @@ impl<'a> MqttMessage<'a> {
             .unwrap_or(&default_response);
 
         // Associate any provided correlation data with the response.
-        let mut correlation_data: Vec<minimq::Property<'a>, consts::U1> =
+        let mut correlation_data: Vec<minimq::Property<'a>, 1> = Vec::new();
-            Vec::new();
         if let Some(data) = properties
             .iter()
             .find(|prop| matches!(prop, minimq::Property::CorrelationData(_)))

src/net/miniconf_client.rs

@@ -10,7 +10,7 @@
 ///!
 ///! Respones to settings updates are sent without quality-of-service guarantees, so there's no
 ///! guarantee that the requestee will be informed that settings have been applied.
-use heapless::{consts, String};
+use heapless::String;
 
 use super::{MqttMessage, NetworkReference, SettingsResponse, UpdateState};
 use crate::hardware::design_parameters::MQTT_BROKER;
@@ -20,11 +20,11 @@ pub struct MiniconfClient<S>
 where
     S: miniconf::Miniconf + Default + Clone,
 {
-    default_response_topic: String<consts::U128>,
+    default_response_topic: String<128>,
     mqtt: minimq::Minimq<NetworkReference, 256>,
     settings: S,
     subscribed: bool,
-    settings_prefix: String<consts::U64>,
+    settings_prefix: String<64>,
 }
 
 impl<S> MiniconfClient<S>
@@ -41,10 +41,10 @@ where
         let mqtt =
             minimq::Minimq::new(MQTT_BROKER.into(), client_id, stack).unwrap();
 
-        let mut response_topic: String<consts::U128> = String::from(prefix);
+        let mut response_topic: String<128> = String::from(prefix);
         response_topic.push_str("/log").unwrap();
 
-        let mut settings_prefix: String<consts::U64> = String::from(prefix);
+        let mut settings_prefix: String<64> = String::from(prefix);
         settings_prefix.push_str("/settings").unwrap();
 
         Self {
@@ -81,7 +81,7 @@ where
         if !self.subscribed && mqtt_connected {
             // Note(unwrap): We construct a string with two more characters than the prefix
             // strucutre, so we are guaranteed to have space for storage.
-            let mut settings_topic: String<consts::U66> =
+            let mut settings_topic: String<66> =
                 String::from(self.settings_prefix.as_str());
             settings_topic.push_str("/#").unwrap();
 

src/net/mod.rs

@@ -5,7 +5,7 @@
 ///! telemetry (via MQTT), configuration of run-time settings (via MQTT + Miniconf), and live data
 ///! streaming over raw UDP/TCP sockets. This module encompasses the main processing routines
 ///! related to Stabilizer networking operations.
-use heapless::{consts, String};
+use heapless::String;
 use miniconf::Miniconf;
 use serde::Serialize;
 
@@ -129,7 +129,6 @@ where
     /// # Returns
     /// An indication if any of the network users indicated a state change.
     pub fn update(&mut self) -> NetworkState {
-        super::debug::high();
         // Update the MQTT clients.
         self.telemetry.update();
 
@@ -149,8 +148,6 @@ where
             UpdateState::NoChange => poll_result,
         };
 
-        super::debug::low();
-
         result
     }
 }
@@ -168,7 +165,7 @@ fn get_client_id(
     app: &str,
     client: &str,
     mac: smoltcp_nal::smoltcp::wire::EthernetAddress,
-) -> String<consts::U64> {
+) -> String<64> {
     let mut identifier = String::new();
     write!(&mut identifier, "{}-{}-{}", app, mac, client).unwrap();
     identifier
@@ -185,10 +182,10 @@ fn get_client_id(
 pub fn get_device_prefix(
     app: &str,
     mac: smoltcp_nal::smoltcp::wire::EthernetAddress,
-) -> String<consts::U128> {
+) -> String<128> {
     // Note(unwrap): The mac address + binary name must be short enough to fit into this string. If
     // they are defined too long, this will panic and the device will fail to boot.
-    let mut prefix: String<consts::U128> = String::new();
+    let mut prefix: String<128> = String::new();
     write!(&mut prefix, "dt/sinara/{}/{}", app, mac).unwrap();
 
     prefix

src/net/telemetry.rs

@@ -10,7 +10,7 @@
 ///! sampling frequency. Instead, the raw codes are stored and the telemetry is generated as
 ///! required immediately before transmission. This ensures that any slower computation required
 ///! for unit conversion can be off-loaded to lower priority tasks.
-use heapless::{consts, String, Vec};
+use heapless::{String, Vec};
 use minimq::QoS;
 use serde::Serialize;
 
@@ -22,7 +22,7 @@ use crate::hardware::{
 /// The telemetry client for reporting telemetry data over MQTT.
 pub struct TelemetryClient<T: Serialize> {
     mqtt: minimq::Minimq<NetworkReference, 256>,
-    telemetry_topic: String<consts::U128>,
+    telemetry_topic: String<128>,
     _telemetry: core::marker::PhantomData<T>,
 }
 
@@ -99,7 +99,7 @@ impl<T: Serialize> TelemetryClient<T> {
         let mqtt =
             minimq::Minimq::new(MQTT_BROKER.into(), client_id, stack).unwrap();
 
-        let mut telemetry_topic: String<consts::U128> = String::from(prefix);
+        let mut telemetry_topic: String<128> = String::from(prefix);
         telemetry_topic.push_str("/telemetry").unwrap();
 
         Self {
@@ -118,7 +118,7 @@ impl<T: Serialize> TelemetryClient<T> {
     /// # Args
     /// * `telemetry` - The telemetry to report
     pub fn publish(&mut self, telemetry: &T) {
-        let telemetry: Vec<u8, consts::U256> =
+        let telemetry: Vec<u8, 256> =
             serde_json_core::to_vec(telemetry).unwrap();
         self.mqtt
             .client