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dma: don't swap buffers

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* This uses a new closure-based method to the DMA HAL implementation which
  gives access to the inactive buffer directly.
* It removes changing addresses, the third buffer for DBM, the inactive
  address poisoning, and allows the cancellation of the redundant repeat
  memory barriers and compiler fences.
* This is now around 20 instructions per buffer down from about 100 cycles
  before.
* Also introduces a new `SampleBuffer` type alias.
* The required unpacking of the resources structure is a bit annoying
  but could probably abstraced away.

TODO:

* Test
* Adapt `lockin`
This commit is contained in:
Robert Jördens 2021-05-24 20:06:31 +02:00
parent d8cc3c74d9
commit 3165c680d6
6 changed files with 107 additions and 110 deletions
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3
Cargo.lock generated
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@ -802,8 +802,7 @@ dependencies = [
[[package]] [[package]]
name = "stm32h7xx-hal" name = "stm32h7xx-hal"
version = "0.9.0" version = "0.9.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "git+https://github.com/quartiq/stm32h7xx-hal.git?rev=cca4ecc#cca4ecc3e0cc8cb2f7a9652c4099d50b44977493"
checksum = "67034b80041bc33a48df1c1c435b6ae3bb18c35e42aa7e702ce8363b96793398"
dependencies = [ dependencies = [
"bare-metal 1.0.0", "bare-metal 1.0.0",
"cast", "cast",

4
Cargo.toml
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@ -56,7 +56,9 @@ rev = "523d71d"
[dependencies.stm32h7xx-hal] [dependencies.stm32h7xx-hal]
features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"] features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
version = "0.9.0" # version = "0.9.0"
git = "https://github.com/quartiq/stm32h7xx-hal.git"
rev = "cca4ecc"
[patch.crates-io.miniconf] [patch.crates-io.miniconf]
git = "https://github.com/quartiq/miniconf.git" git = "https://github.com/quartiq/miniconf.git"

90
src/bin/dual-iir.rs
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@ -2,6 +2,8 @@
#![no_std] #![no_std]
#![no_main] #![no_main]
use core::sync::atomic::{fence, Ordering};
use stabilizer::{hardware, net}; use stabilizer::{hardware, net};
use miniconf::Miniconf; use miniconf::Miniconf;
@ -120,51 +122,73 @@ const APP: () = {
/// Because the ADC and DAC operate at the same rate, these two constraints actually implement /// 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. /// 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)] #[task(binds=DMA1_STR4, resources=[adcs, digital_inputs, dacs, iir_state, settings, telemetry], priority=2)]
fn process(c: process::Context) { fn process(mut c: process::Context) {
let adc_samples = [ let adc0 = &mut c.resources.adcs.0;
c.resources.adcs.0.acquire_buffer(), let adc1 = &mut c.resources.adcs.1;
c.resources.adcs.1.acquire_buffer(), 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;
adc0.with_buffer(|a0| {
adc1.with_buffer(|a1| {
dac0.with_buffer(|d0| {
dac1.with_buffer(|d1| {
let adc_samples = [a0, a1];
let dac_samples = [d0, d1];
let dac_samples = [ let digital_inputs =
c.resources.dacs.0.acquire_buffer(), [di.0.is_high().unwrap(), di.1.is_high().unwrap()];
c.resources.dacs.1.acquire_buffer(),
];
let digital_inputs = [ let hold = settings.force_hold
c.resources.digital_inputs.0.is_high().unwrap(), || (digital_inputs[1] && settings.allow_hold);
c.resources.digital_inputs.1.is_high().unwrap(),
];
let hold = c.resources.settings.force_hold // Preserve instruction and data ordering w.r.t. DMA flag access.
|| (digital_inputs[1] && c.resources.settings.allow_hold); fence(Ordering::SeqCst);
for channel in 0..adc_samples.len() { for channel in 0..adc_samples.len() {
for sample in 0..adc_samples[0].len() { adc_samples[channel]
let mut y = f32::from(adc_samples[channel][sample] as i16); .iter()
for i in 0..c.resources.iir_state[channel].len() { .zip(dac_samples[channel].iter_mut())
y = c.resources.settings.iir_ch[channel][i].update( .map(|(ai, di)| {
&mut c.resources.iir_state[channel][i], let x = f32::from(*ai as i16);
y, let y = settings.iir_ch[channel]
hold, .iter()
); .zip(iir_state[channel].iter_mut())
} .fold(x, |yi, (ch, state)| {
// Note(unsafe): The filter limits ensure that the value is in range. ch.update(state, yi, hold)
});
// Note(unsafe): The filter limits must ensure that
// the value is in range.
// The truncation introduces 1/2 LSB distortion. // The truncation introduces 1/2 LSB distortion.
let y = unsafe { y.to_int_unchecked::<i16>() }; let y: i16 =
unsafe { y.to_int_unchecked() };
// Convert to DAC code // Convert to DAC code
dac_samples[channel][sample] = DacCode::from(y).0; *di = DacCode::from(y).0;
} })
.last();
} }
// Update telemetry measurements. // Update telemetry measurements.
c.resources.telemetry.adcs = telemetry.adcs = [
[AdcCode(adc_samples[0][0]), AdcCode(adc_samples[1][0])]; AdcCode(adc_samples[0][0]),
AdcCode(adc_samples[1][0]),
];
c.resources.telemetry.dacs = telemetry.dacs = [
[DacCode(dac_samples[0][0]), DacCode(dac_samples[1][0])]; DacCode(dac_samples[0][0]),
DacCode(dac_samples[1][0]),
];
c.resources.telemetry.digital_inputs = digital_inputs; telemetry.digital_inputs = digital_inputs;
// Preserve instruction and data ordering w.r.t. DMA flag access.
fence(Ordering::SeqCst);
})
})
})
});
} }
#[idle(resources=[network], spawn=[settings_update])] #[idle(resources=[network], spawn=[settings_update])]

65
src/hardware/adc.rs
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@ -29,15 +29,9 @@
///! available. When enough samples have been collected, a transfer-complete interrupt is generated ///! available. When enough samples have been collected, a transfer-complete interrupt is generated
///! and the ADC samples are available for processing. ///! and the ADC samples are available for processing.
///! ///!
///! The SPI peripheral internally has an 8- or 16-byte TX and RX FIFO, which corresponds to a 4- or ///! After a complete transfer of a batch of samples, the inactive buffer is available to the
///! 8-sample buffer for incoming ADC samples. During the handling of the DMA transfer completion, ///! user for processing. The processing must complete before the DMA transfer of the next batch
///! there is a small window where buffers are swapped over where it's possible that a sample could ///! completes.
///! be lost. In order to avoid this, the SPI RX FIFO is effectively used as a "sample overflow"
///! region and can buffer a number of samples until the next DMA transfer is configured. If a DMA
///! transfer is still not set in time, the SPI peripheral will generate an input-overrun interrupt.
///! This interrupt then serves as a means of detecting if samples have been lost, which will occur
///! whenever data processing takes longer than the collection period.
///!
///! ///!
///! ## Starting Data Collection ///! ## Starting Data Collection
///! ///!
@ -68,13 +62,12 @@
///! sample DMA requests, which can be completed by setting e.g. ADC0's comparison to a counter ///! sample DMA requests, which can be completed by setting e.g. ADC0's comparison to a counter
///! value of 0 and ADC1's comparison to a counter value of 1. ///! value of 0 and ADC1's comparison to a counter value of 1.
///! ///!
///! In this implementation, single buffer mode DMA transfers are used because the SPI RX FIFO can ///! In this implementation, double buffer mode DMA transfers are used because the SPI RX FIFOs
///! be used as a means to both detect and buffer ADC samples during the buffer swap-over. Because ///! have finite depth, FIFO access is slower than AXISRAM access, and because the single
///! of this, double-buffered mode does not offer any advantages over single-buffered mode (unless ///! buffer mode DMA disable/enable and buffer update sequence is slow.
///! double-buffered mode offers less overhead due to the DMA disable/enable procedure).
use stm32h7xx_hal as hal; use stm32h7xx_hal as hal;
use super::design_parameters::SAMPLE_BUFFER_SIZE; use super::design_parameters::{SampleBuffer, SAMPLE_BUFFER_SIZE};
use super::timers; use super::timers;
use hal::dma::{ use hal::dma::{
@ -119,8 +112,7 @@ static mut SPI_EOT_CLEAR: [u32; 1] = [0x00];
// processed). Note that the contents of AXI SRAM is uninitialized, so the buffer contents on // processed). Note that the contents of AXI SRAM is uninitialized, so the buffer contents on
// startup are undefined. The dimensions are `ADC_BUF[adc_index][ping_pong_index][sample_index]`. // startup are undefined. The dimensions are `ADC_BUF[adc_index][ping_pong_index][sample_index]`.
#[link_section = ".axisram.buffers"] #[link_section = ".axisram.buffers"]
static mut ADC_BUF: [[[u16; SAMPLE_BUFFER_SIZE]; 2]; 2] = static mut ADC_BUF: [[SampleBuffer; 2]; 2] = [[[0; SAMPLE_BUFFER_SIZE]; 2]; 2];
[[[0; SAMPLE_BUFFER_SIZE]; 2]; 2];
macro_rules! adc_input { macro_rules! adc_input {
($name:ident, $index:literal, $trigger_stream:ident, $data_stream:ident, $clear_stream:ident, ($name:ident, $index:literal, $trigger_stream:ident, $data_stream:ident, $clear_stream:ident,
@ -192,12 +184,11 @@ macro_rules! adc_input {
/// Represents data associated with ADC. /// Represents data associated with ADC.
pub struct $name { pub struct $name {
next_buffer: Option<&'static mut [u16; SAMPLE_BUFFER_SIZE]>,
transfer: Transfer< transfer: Transfer<
hal::dma::dma::$data_stream<hal::stm32::DMA1>, hal::dma::dma::$data_stream<hal::stm32::DMA1>,
hal::spi::Spi<hal::stm32::$spi, hal::spi::Disabled, u16>, hal::spi::Spi<hal::stm32::$spi, hal::spi::Disabled, u16>,
PeripheralToMemory, PeripheralToMemory,
&'static mut [u16; SAMPLE_BUFFER_SIZE], &'static mut SampleBuffer,
hal::dma::DBTransfer, hal::dma::DBTransfer,
>, >,
trigger_transfer: Transfer< trigger_transfer: Transfer<
@ -316,6 +307,7 @@ macro_rules! adc_input {
// data stream is used to trigger a transfer completion interrupt. // data stream is used to trigger a transfer completion interrupt.
let data_config = DmaConfig::default() let data_config = DmaConfig::default()
.memory_increment(true) .memory_increment(true)
.double_buffer(true)
.transfer_complete_interrupt($index == 1) .transfer_complete_interrupt($index == 1)
.priority(Priority::VeryHigh); .priority(Priority::VeryHigh);
@ -333,17 +325,14 @@ macro_rules! adc_input {
Transfer::init( Transfer::init(
data_stream, data_stream,
spi, spi,
// Note(unsafe): The ADC_BUF[$index][0] is "owned" by this peripheral. // Note(unsafe): The ADC_BUF[$index] is "owned" by this peripheral.
// It shall not be used anywhere else in the module. // It shall not be used anywhere else in the module.
unsafe { &mut ADC_BUF[$index][0] }, unsafe { &mut ADC_BUF[$index][0] },
None, unsafe { Some(&mut ADC_BUF[$index][1]) },
data_config, data_config,
); );
Self { 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, transfer: data_transfer,
trigger_transfer, trigger_transfer,
clear_transfer, clear_transfer,
@ -364,27 +353,17 @@ macro_rules! adc_input {
} }
/// Obtain a buffer filled with ADC samples. /// Wait for the transfer of the currently active buffer to complete,
/// then call a function on the now inactive buffer and acknowledge the
/// transfer complete flag.
/// ///
/// # Returns /// NOTE(unsafe): Memory safety and access ordering is not guaranteed
/// A reference to the underlying buffer that has been filled with ADC samples. /// (see the HAL DMA docs).
pub fn acquire_buffer(&mut self) -> &[u16; SAMPLE_BUFFER_SIZE] { pub fn with_buffer<F, R>(&mut self, f: F) -> R
// Wait for the transfer to fully complete before continuing. Note: If a device where
// hangs up, check that this conditional is passing correctly, as there is no F: FnOnce(&mut SampleBuffer) -> R,
// time-out checks here in the interest of execution speed. {
while !self.transfer.get_transfer_complete_flag() {} unsafe { self.transfer.next_dbm_transfer_with(|buf, _current| f(buf)) }
let next_buffer = self.next_buffer.take().unwrap();
// Start the next transfer.
self.transfer.clear_interrupts();
let (prev_buffer, _, _) =
self.transfer.next_transfer(next_buffer).unwrap();
// .unwrap_none() https://github.com/rust-lang/rust/issues/62633
self.next_buffer.replace(prev_buffer);
self.next_buffer.as_ref().unwrap()
} }
} }
} }

43
src/hardware/dac.rs
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@ -52,7 +52,7 @@
///! served promptly after the transfer completes. ///! served promptly after the transfer completes.
use stm32h7xx_hal as hal; use stm32h7xx_hal as hal;
use super::design_parameters::SAMPLE_BUFFER_SIZE; use super::design_parameters::{SampleBuffer, SAMPLE_BUFFER_SIZE};
use super::timers; use super::timers;
use hal::dma::{ use hal::dma::{
@ -66,8 +66,7 @@ use hal::dma::{
// processed). Note that the contents of AXI SRAM is uninitialized, so the buffer contents on // processed). Note that the contents of AXI SRAM is uninitialized, so the buffer contents on
// startup are undefined. The dimensions are `ADC_BUF[adc_index][ping_pong_index][sample_index]`. // startup are undefined. The dimensions are `ADC_BUF[adc_index][ping_pong_index][sample_index]`.
#[link_section = ".axisram.buffers"] #[link_section = ".axisram.buffers"]
static mut DAC_BUF: [[[u16; SAMPLE_BUFFER_SIZE]; 3]; 2] = static mut DAC_BUF: [[SampleBuffer; 2]; 2] = [[[0; SAMPLE_BUFFER_SIZE]; 2]; 2];
[[[0; SAMPLE_BUFFER_SIZE]; 3]; 2];
/// Custom type for referencing DAC output codes. /// Custom type for referencing DAC output codes.
/// The internal integer is the raw code written to the DAC output register. /// The internal integer is the raw code written to the DAC output register.
@ -137,13 +136,12 @@ macro_rules! dac_output {
/// Represents data associated with DAC. /// Represents data associated with DAC.
pub struct $name { pub struct $name {
next_buffer: Option<&'static mut [u16; SAMPLE_BUFFER_SIZE]>,
// Note: SPI TX functionality may not be used from this structure to ensure safety with DMA. // Note: SPI TX functionality may not be used from this structure to ensure safety with DMA.
transfer: Transfer< transfer: Transfer<
hal::dma::dma::$data_stream<hal::stm32::DMA1>, hal::dma::dma::$data_stream<hal::stm32::DMA1>,
$spi, $spi,
MemoryToPeripheral, MemoryToPeripheral,
&'static mut [u16; SAMPLE_BUFFER_SIZE], &'static mut SampleBuffer,
hal::dma::DBTransfer, hal::dma::DBTransfer,
>, >,
} }
@ -198,33 +196,26 @@ macro_rules! dac_output {
trigger_config, trigger_config,
); );
Self { Self { transfer }
transfer,
// Note(unsafe): This buffer is only used once and provided for the next DMA transfer.
next_buffer: unsafe { Some(&mut DAC_BUF[$index][2]) },
}
} }
pub fn start(&mut self) { pub fn start(&mut self) {
self.transfer.start(|spi| spi.start_dma()); self.transfer.start(|spi| spi.start_dma());
} }
/// Acquire the next output buffer to populate it with DAC codes. /// Wait for the transfer of the currently active buffer to complete,
pub fn acquire_buffer(&mut self) -> &mut [u16; SAMPLE_BUFFER_SIZE] { /// then call a function on the now inactive buffer and acknowledge the
// Note: If a device hangs up, check that this conditional is passing correctly, as /// transfer complete flag.
// there is no time-out checks here in the interest of execution speed. ///
while !self.transfer.get_transfer_complete_flag() {} /// NOTE(unsafe): Memory safety and access ordering is not guaranteed
/// (see the HAL DMA docs).
let next_buffer = self.next_buffer.take().unwrap(); pub fn with_buffer<F, R>(&mut self, f: F) -> R
where
// Start the next transfer. F: FnOnce(&mut SampleBuffer) -> R,
let (prev_buffer, _, _) = {
self.transfer.next_transfer(next_buffer).unwrap(); unsafe {
self.transfer.next_dbm_transfer_with(|buf, _current| f(buf))
// .unwrap_none() https://github.com/rust-lang/rust/issues/62633 }
self.next_buffer.replace(prev_buffer);
self.next_buffer.as_mut().unwrap()
} }
} }
}; };

2
src/hardware/design_parameters.rs
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@ -50,5 +50,7 @@ pub const ADC_SAMPLE_TICKS: u16 = 1 << ADC_SAMPLE_TICKS_LOG2;
pub const SAMPLE_BUFFER_SIZE_LOG2: u8 = 3; pub const SAMPLE_BUFFER_SIZE_LOG2: u8 = 3;
pub const SAMPLE_BUFFER_SIZE: usize = 1 << SAMPLE_BUFFER_SIZE_LOG2; pub const SAMPLE_BUFFER_SIZE: usize = 1 << SAMPLE_BUFFER_SIZE_LOG2;
pub type SampleBuffer = [u16; SAMPLE_BUFFER_SIZE];
// The MQTT broker IPv4 address // The MQTT broker IPv4 address
pub const MQTT_BROKER: [u8; 4] = [10, 34, 16, 10]; pub const MQTT_BROKER: [u8; 4] = [10, 34, 16, 10];