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Merge branch 'master' into feature/lockin-app-refactor

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This commit is contained in:
Ryan Summers 2021-01-26 10:53:25 +01:00
commit 43ff186bc6
15 changed files with 1672 additions and 200 deletions
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40
.github/workflows/ci.yml vendored
View File

@ -29,6 +29,11 @@ jobs:
- uses: actions-rs/clippy-check@v1
with:
token: ${{ secrets.GITHUB_TOKEN }}
- name: cargo check
uses: actions-rs/cargo@v1
with:
command: check
args: --verbose
compile:
runs-on: ubuntu-latest
@ -37,6 +42,12 @@ jobs:
toolchain:
- stable
- beta
bin:
- dual-iir
- lockin
features:
- ''
- pounder_v1_1
steps:
- uses: actions/checkout@v2
- name: Install Rust ${{ matrix.toolchain }}
@ -46,20 +57,11 @@ jobs:
target: thumbv7em-none-eabihf
override: true
components: llvm-tools-preview
- name: cargo check
uses: actions-rs/cargo@v1
with:
command: check
args: --verbose
- name: cargo build
uses: actions-rs/cargo@v1
with:
command: build
- name: cargo build release
uses: actions-rs/cargo@v1
with:
command: build
args: --release
args: --release --features "${{ matrix.features }}" --bin ${{ matrix.bin }}
- name: cargo-binutils
uses: actions-rs/cargo@v1
with:
@ -69,25 +71,19 @@ jobs:
uses: actions-rs/cargo@v1
with:
command: size
args: --release
args: --release --features "${{ matrix.features }}" --bin ${{ matrix.bin }}
- name: cargo objcopy
uses: actions-rs/cargo@v1
with:
command: objcopy
args: --release --verbose -- -O binary stabilizer-release.bin
args: --release --features "${{ matrix.features }}" --bin ${{ matrix.bin }} --verbose -- -O binary ${{ matrix.bin }}-release.bin
- uses: actions/upload-artifact@v2
if: ${{ matrix.toolchain == 'stable' }}
if: ${{ matrix.toolchain == 'stable' && matrix.features == '' }}
with:
name: stabilizer_${{ github.sha }}
name: stabilizer_${{ matrix.bin }}
path: |
target/*/release/stabilizer
stabilizer-release.bin
- name: Build (Pounder v1.1)
uses: actions-rs/cargo@v1
with:
command: build
args: --features pounder_v1_1
target/*/release/${{ matrix.bin }}
${{ matrix.bin }}-release.bin
test:
runs-on: ubuntu-latest

2
.github/workflows/hitl.yml vendored
View File

@ -15,4 +15,4 @@ jobs:
token: ${{ secrets.DISPATCH_PAT }}
event-type: stabilizer
repository: quartiq/hitl
client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}'
client-payload: '{"github": ${{ toJson(github) }}}'

16
Cargo.lock generated
View File

@ -520,9 +520,9 @@ checksum = "c7d73b3f436185384286bd8098d17ec07c9a7d2388a6599f824d8502b529702a"
[[package]]
name = "log"
version = "0.4.11"
version = "0.4.13"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4fabed175da42fed1fa0746b0ea71f412aa9d35e76e95e59b192c64b9dc2bf8b"
checksum = "fcf3805d4480bb5b86070dcfeb9e2cb2ebc148adb753c5cca5f884d1d65a42b2"
dependencies = [
"cfg-if 0.1.10",
]
@ -767,9 +767,9 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
[[package]]
name = "serde"
version = "1.0.118"
version = "1.0.120"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "06c64263859d87aa2eb554587e2d23183398d617427327cf2b3d0ed8c69e4800"
checksum = "166b2349061381baf54a58e4b13c89369feb0ef2eaa57198899e2312aac30aab"
dependencies = [
"serde_derive",
]
@ -796,9 +796,9 @@ dependencies = [
[[package]]
name = "serde_derive"
version = "1.0.118"
version = "1.0.120"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c84d3526699cd55261af4b941e4e725444df67aa4f9e6a3564f18030d12672df"
checksum = "0ca2a8cb5805ce9e3b95435e3765b7b553cecc762d938d409434338386cb5775"
dependencies = [
"proc-macro2",
"quote",
@ -891,9 +891,9 @@ dependencies = [
[[package]]
name = "syn"
version = "1.0.53"
version = "1.0.58"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8833e20724c24de12bbaba5ad230ea61c3eafb05b881c7c9d3cfe8638b187e68"
checksum = "cc60a3d73ea6594cd712d830cc1f0390fd71542d8c8cd24e70cc54cdfd5e05d5"
dependencies = [
"proc-macro2",
"quote",

2
dsp/benches/trig.rs
View File

@ -1,6 +1,6 @@
use core::f32::consts::PI;
use criterion::{black_box, criterion_group, criterion_main, Criterion};
use dsp::trig::{atan2, cossin};
use dsp::{atan2, cossin};
fn atan2_bench(c: &mut Criterion) {
let xi = (10 << 16) as i32;

135
dsp/src/atan2.rs Normal file
View File

@ -0,0 +1,135 @@
/// 2-argument arctangent function.
///
/// This implementation uses all integer arithmetic for fast
/// computation. It is designed to have high accuracy near the axes
/// and lower away from the axes. It is additionally designed so that
/// the error changes slowly with respect to the angle.
///
/// # Arguments
///
/// * `y` - Y-axis component.
/// * `x` - X-axis component.
///
/// # Returns
///
/// The angle between the x-axis and the ray to the point (x,y). The
/// result range is from i32::MIN to i32::MAX, where i32::MIN
/// represents -pi and, equivalently, +pi. i32::MAX represents one
/// count less than +pi.
pub fn atan2(y: i32, x: i32) -> i32 {
let sign = (x < 0, y < 0);
let mut y = y.wrapping_abs() as u32;
let mut x = x.wrapping_abs() as u32;
let y_greater = y > x;
if y_greater {
core::mem::swap(&mut y, &mut x);
}
let z = (16 - y.leading_zeros() as i32).max(0);
x >>= z;
if x == 0 {
return 0;
}
y >>= z;
let r = (y << 16) / x;
debug_assert!(r <= 1 << 16);
// Uses the general procedure described in the following
// Mathematics stack exchange answer:
//
// https://math.stackexchange.com/a/1105038/583981
//
// The atan approximation method has been modified to be cheaper
// to compute and to be more compatible with integer
// arithmetic. The approximation technique used here is
//
// pi / 4 * r + C * r * (1 - abs(r))
//
// which is taken from Rajan 2006: Efficient Approximations for
// the Arctangent Function.
//
// The least mean squared error solution is C = 0.279 (no the 0.285 that
// Rajan uses). K = C*4/pi.
// Q5 for K provides sufficient correction accuracy while preserving
// as much smoothness of the quadratic correction as possible.
const FP_K: usize = 5;
const K: u32 = (0.35489 * (1 << FP_K) as f64) as u32;
// debug_assert!(K == 11);
// `r` is unsigned Q16.16 and <= 1
// `angle` is signed Q1.31 with 1 << 31 == +- pi
// Since K < 0.5 and r*(1 - r) <= 0.25 the correction product can use
// 4 bits for K, and 15 bits for r and 1-r to remain within the u32 range.
let mut angle = ((r << 13)
+ ((K * (r >> 1) * ((1 << 15) - (r >> 1))) >> (FP_K + 1)))
as i32;
if y_greater {
angle = (1 << 30) - angle;
}
if sign.0 {
angle = i32::MAX - angle;
}
if sign.1 {
angle = angle.wrapping_neg();
}
angle
}
#[cfg(test)]
mod tests {
use super::*;
use core::f64::consts::PI;
fn angle_to_axis(angle: f64) -> f64 {
let angle = angle % (PI / 2.);
(PI / 2. - angle).min(angle)
}
#[test]
fn atan2_absolute_error() {
const N: usize = 321;
let mut test_vals = [0i32; N + 4];
let scale = (1i64 << 31) as f64;
for i in 0..N {
test_vals[i] = (scale * (-1. + 2. * i as f64 / N as f64)) as i32;
}
assert!(test_vals.contains(&i32::MIN));
test_vals[N] = i32::MAX;
test_vals[N + 1] = 0;
test_vals[N + 2] = -1;
test_vals[N + 3] = 1;
let mut rms_err = 0f64;
let mut abs_err = 0f64;
let mut rel_err = 0f64;
for &x in test_vals.iter() {
for &y in test_vals.iter() {
let want = (y as f64 / scale).atan2(x as f64 / scale);
let have = atan2(y, x) as f64 * PI / scale;
let err = (have - want).abs();
abs_err = abs_err.max(err);
rms_err += err * err;
if err > 3e-5 {
rel_err = rel_err.max(err / angle_to_axis(want));
}
}
}
rms_err = rms_err.sqrt() / test_vals.len() as f64;
println!("max abs err: {:.2e}", abs_err);
println!("rms abs err: {:.2e}", rms_err);
println!("max rel err: {:.2e}", rel_err);
assert!(abs_err < 5e-3);
assert!(rms_err < 3e-3);
assert!(rel_err < 0.6);
}
}

17
dsp/src/complex.rs Normal file
View File

@ -0,0 +1,17 @@
use super::atan2;
use serde::{Deserialize, Serialize};
#[derive(Copy, Clone, Default, Deserialize, Serialize)]
pub struct Complex<T>(pub T, pub T);
impl Complex<i32> {
pub fn power(&self) -> i32 {
(((self.0 as i64) * (self.0 as i64)
+ (self.1 as i64) * (self.1 as i64))
>> 32) as i32
}
pub fn phase(&self) -> i32 {
atan2(self.1, self.0)
}
}

147
dsp/src/trig.rs → dsp/src/cossin.rs
View File

@ -3,90 +3,6 @@ use core::f64::consts::PI;
include!(concat!(env!("OUT_DIR"), "/cossin_table.rs"));
/// 2-argument arctangent function.
///
/// This implementation uses all integer arithmetic for fast
/// computation. It is designed to have high accuracy near the axes
/// and lower away from the axes. It is additionally designed so that
/// the error changes slowly with respect to the angle.
///
/// # Arguments
///
/// * `y` - Y-axis component.
/// * `x` - X-axis component.
///
/// # Returns
///
/// The angle between the x-axis and the ray to the point (x,y). The
/// result range is from i32::MIN to i32::MAX, where i32::MIN
/// represents -pi and, equivalently, +pi. i32::MAX represents one
/// count less than +pi.
pub fn atan2(y: i32, x: i32) -> i32 {
let sign = (x < 0, y < 0);
let mut y = y.wrapping_abs() as u32;
let mut x = x.wrapping_abs() as u32;
let y_greater = y > x;
if y_greater {
core::mem::swap(&mut y, &mut x);
}
let z = (16 - y.leading_zeros() as i32).max(0);
x >>= z;
if x == 0 {
return 0;
}
y >>= z;
let r = (y << 16) / x;
debug_assert!(r <= 1 << 16);
// Uses the general procedure described in the following
// Mathematics stack exchange answer:
//
// https://math.stackexchange.com/a/1105038/583981
//
// The atan approximation method has been modified to be cheaper
// to compute and to be more compatible with integer
// arithmetic. The approximation technique used here is
//
// pi / 4 * r + C * r * (1 - abs(r))
//
// which is taken from Rajan 2006: Efficient Approximations for
// the Arctangent Function.
//
// The least mean squared error solution is C = 0.279 (no the 0.285 that
// Rajan uses). K = C*4/pi.
// Q5 for K provides sufficient correction accuracy while preserving
// as much smoothness of the quadratic correction as possible.
const FP_K: usize = 5;
const K: u32 = (0.35489 * (1 << FP_K) as f64) as u32;
// debug_assert!(K == 11);
// `r` is unsigned Q16.16 and <= 1
// `angle` is signed Q1.31 with 1 << 31 == +- pi
// Since K < 0.5 and r*(1 - r) <= 0.25 the correction product can use
// 4 bits for K, and 15 bits for r and 1-r to remain within the u32 range.
let mut angle = ((r << 13)
+ ((K * (r >> 1) * ((1 << 15) - (r >> 1))) >> (FP_K + 1)))
as i32;
if y_greater {
angle = (1 << 30) - angle;
}
if sign.0 {
angle = i32::MAX - angle;
}
if sign.1 {
angle = angle.wrapping_neg();
}
angle
}
/// Compute the cosine and sine of an angle.
/// This is ported from the MiSoC cossin core.
/// (https://github.com/m-labs/misoc/blob/master/misoc/cores/cossin.py)
@ -153,7 +69,7 @@ pub fn cossin(phase: i32) -> Complex<i32> {
sin *= -1;
}
(cos, sin)
Complex(cos, sin)
}
#[cfg(test)]
@ -161,66 +77,21 @@ mod tests {
use super::*;
use core::f64::consts::PI;
fn angle_to_axis(angle: f64) -> f64 {
let angle = angle % (PI / 2.);
(PI / 2. - angle).min(angle)
}
#[test]
fn atan2_absolute_error() {
const N: usize = 321;
let mut test_vals = [0i32; N + 4];
let scale = (1i64 << 31) as f64;
for i in 0..N {
test_vals[i] = (scale * (-1. + 2. * i as f64 / N as f64)) as i32;
}
assert!(test_vals.contains(&i32::MIN));
test_vals[N] = i32::MAX;
test_vals[N + 1] = 0;
test_vals[N + 2] = -1;
test_vals[N + 3] = 1;
let mut rms_err = 0f64;
let mut abs_err = 0f64;
let mut rel_err = 0f64;
for &x in test_vals.iter() {
for &y in test_vals.iter() {
let want = (y as f64 / scale).atan2(x as f64 / scale);
let have = atan2(y, x) as f64 * PI / scale;
let err = (have - want).abs();
abs_err = abs_err.max(err);
rms_err += err * err;
if err > 3e-5 {
rel_err = rel_err.max(err / angle_to_axis(want));
}
}
}
rms_err = rms_err.sqrt() / test_vals.len() as f64;
println!("max abs err: {:.2e}", abs_err);
println!("rms abs err: {:.2e}", rms_err);
println!("max rel err: {:.2e}", rel_err);
assert!(abs_err < 5e-3);
assert!(rms_err < 3e-3);
assert!(rel_err < 0.6);
}
#[test]
fn cossin_error_max_rms_all_phase() {
// Constant amplitude error due to LUT data range.
const AMPLITUDE: f64 = ((1i64 << 31) - (1i64 << 15)) as f64;
const MAX_PHASE: f64 = (1i64 << 32) as f64;
let mut rms_err: Complex<f64> = (0., 0.);
let mut sum_err: Complex<f64> = (0., 0.);
let mut max_err: Complex<f64> = (0., 0.);
let mut sum: Complex<f64> = (0., 0.);
let mut demod: Complex<f64> = (0., 0.);
const AMPLITUDE: f64 = ((1i64 << 31) - (1i64 << 15)) as _;
const MAX_PHASE: f64 = (1i64 << 32) as _;
let mut rms_err = Complex(0f64, 0f64);
let mut sum_err = Complex(0f64, 0f64);
let mut max_err = Complex(0f64, 0f64);
let mut sum = Complex(0f64, 0f64);
let mut demod = Complex(0f64, 0f64);
// use std::{fs::File, io::{BufWriter, prelude::*}, path::Path};
// let mut file = BufWriter::new(File::create(Path::new("data.bin")).unwrap());
// log2 of the number of phase values to check
const PHASE_DEPTH: usize = 20;
for phase in 0..(1 << PHASE_DEPTH) {

23
dsp/src/iir_int.rs
View File

@ -1,6 +1,7 @@
use serde::{Deserialize, Serialize};
pub type IIRState = [i32; 5];
#[derive(Copy, Clone, Default, Deserialize, Serialize)]
pub struct IIRState(pub [i32; 5]);
fn macc(y0: i32, x: &[i32], a: &[i32], shift: u32) -> i32 {
// Rounding bias, half up
@ -18,7 +19,7 @@ fn macc(y0: i32, x: &[i32], a: &[i32], shift: u32) -> i32 {
/// See `dsp::iir::IIR` for general implementation details.
/// Offset and limiting disabled to suit lowpass applications.
/// Coefficient scaling fixed and optimized.
#[derive(Copy, Clone, Deserialize, Serialize)]
#[derive(Copy, Clone, Default, Deserialize, Serialize)]
pub struct IIR {
pub ba: IIRState,
// pub y_offset: i32,
@ -27,9 +28,9 @@ pub struct IIR {
}
impl IIR {
/// Coefficient fixed point: signed Q2.30.
/// Tailored to low-passes PI, II etc.
const SHIFT: u32 = 30;
/// Coefficient fixed point format: signed Q2.30.
/// Tailored to low-passes, PI, II etc.
pub const SHIFT: u32 = 30;
/// Feed a new input value into the filter, update the filter state, and
/// return the new output. Only the state `xy` is modified.
@ -38,21 +39,21 @@ impl IIR {
/// * `xy` - Current filter state.
/// * `x0` - New input.
pub fn update(&self, xy: &mut IIRState, x0: i32) -> i32 {
let n = self.ba.len();
debug_assert!(xy.len() == n);
let n = self.ba.0.len();
debug_assert!(xy.0.len() == n);
// `xy` contains x0 x1 y0 y1 y2
// Increment time x1 x2 y1 y2 y3
// Shift x1 x1 x2 y1 y2
// This unrolls better than xy.rotate_right(1)
xy.copy_within(0..n - 1, 1);
xy.0.copy_within(0..n - 1, 1);
// Store x0 x0 x1 x2 y1 y2
xy[0] = x0;
xy.0[0] = x0;
// Compute y0 by multiply-accumulate
let y0 = macc(0, xy, &self.ba, IIR::SHIFT);
let y0 = macc(0, &xy.0, &self.ba.0, IIR::SHIFT);
// Limit y0
// let y0 = y0.max(self.y_min).min(self.y_max);
// Store y0 x0 x1 y0 y1 y2
xy[n / 2] = y0;
xy.0[n / 2] = y0;
y0
}
}

13
dsp/src/lib.rs
View File

@ -3,8 +3,6 @@
use core::ops::{Add, Mul, Neg};
pub type Complex<T> = (T, T);
/// Bit shift, round up half.
///
/// # Arguments
@ -114,12 +112,19 @@ where
.fold(y0, |y, xa| y + xa)
}
mod atan2;
mod complex;
mod cossin;
pub mod iir;
pub mod iir_int;
pub mod lockin;
pub mod pll;
pub mod reciprocal_pll;
pub mod trig;
pub mod unwrap;
pub use atan2::atan2;
pub use complex::Complex;
pub use cossin::cossin;
#[cfg(test)]
mod testing;
pub mod testing;

1067
dsp/src/lockin.rs Normal file
View File

File diff suppressed because it is too large Load Diff

32
dsp/src/reciprocal_pll.rs
View File

@ -62,18 +62,26 @@ impl TimestampHandler {
self.reference_frequency = frequency as u32 as i64;
}
let demodulation_frequency = divide_round(
1 << (32 + self.adc_sample_ticks_log2),
self.reference_frequency,
) as u32;
let demodulation_initial_phase = divide_round(
(((self.batch_index as i64)
<< (self.adc_sample_ticks_log2
+ self.sample_buffer_size_log2))
- self.reference_phase)
<< 32,
self.reference_frequency,
) as u32;
let demodulation_frequency: u32;
let demodulation_initial_phase: u32;
if self.reference_frequency == 0 {
demodulation_frequency = u32::MAX;
demodulation_initial_phase = u32::MAX;
} else {
demodulation_frequency = divide_round(
1 << (32 + self.adc_sample_ticks_log2),
self.reference_frequency,
) as u32;
demodulation_initial_phase = divide_round(
(((self.batch_index as i64)
<< (self.adc_sample_ticks_log2
+ self.sample_buffer_size_log2))
- self.reference_phase)
<< 32,
self.reference_frequency,
) as u32;
}
if self.batch_index
< (1 << (32

16
dsp/src/testing.rs
View File

@ -1,6 +1,22 @@
#![allow(dead_code)]
use super::Complex;
/// Maximum acceptable error between a computed and actual value given fixed and relative
/// tolerances.
///
/// # Args
/// * `a` - First input.
/// * `b` - Second input. The relative tolerance is computed with respect to the maximum of the
/// absolute values of the first and second inputs.
/// * `rtol` - Relative tolerance.
/// * `atol` - Fixed tolerance.
///
/// # Returns
/// Maximum acceptable error.
pub fn max_error(a: f64, b: f64, rtol: f64, atol: f64) -> f64 {
rtol * a.abs().max(b.abs()) + atol
}
pub fn isclose(a: f64, b: f64, rtol: f64, atol: f64) -> bool {
(a - b).abs() <= a.abs().max(b.abs()) * rtol + atol
}

353
src/bin/lockin.rs Normal file
View File

@ -0,0 +1,353 @@
#![deny(warnings)]
#![no_std]
#![no_main]
#![cfg_attr(feature = "nightly", feature(core_intrinsics))]
use stm32h7xx_hal as hal;
#[macro_use]
extern crate log;
use rtic::cyccnt::{Instant, U32Ext};
use heapless::{consts::*, String};
use stabilizer::{
hardware, server, ADC_SAMPLE_TICKS_LOG2, SAMPLE_BUFFER_SIZE_LOG2,
};
use dsp::{iir, iir_int, lockin::Lockin, reciprocal_pll::TimestampHandler};
use hardware::{
Adc0Input, Adc1Input, Dac0Output, Dac1Output, InputStamper, AFE0, AFE1,
};
const SCALE: f32 = ((1 << 15) - 1) as f32;
const TCP_RX_BUFFER_SIZE: usize = 8192;
const TCP_TX_BUFFER_SIZE: usize = 8192;
// The number of cascaded IIR biquads per channel. Select 1 or 2!
const IIR_CASCADE_LENGTH: usize = 1;
#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
const APP: () = {
struct Resources {
afes: (AFE0, AFE1),
adcs: (Adc0Input, Adc1Input),
dacs: (Dac0Output, Dac1Output),
net_interface: hardware::Ethernet,
// Format: iir_state[ch][cascade-no][coeff]
#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
iir_state: [[iir::IIRState; IIR_CASCADE_LENGTH]; 2],
#[init([[iir::IIR { ba: [1., 0., 0., 0., 0.], y_offset: 0., y_min: -SCALE - 1., y_max: SCALE }; IIR_CASCADE_LENGTH]; 2])]
iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
timestamper: InputStamper,
pll: TimestampHandler,
lockin: Lockin,
}
#[init]
fn init(c: init::Context) -> init::LateResources {
// Configure the microcontroller
let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
let pll = TimestampHandler::new(
4, // relative PLL frequency bandwidth: 2**-4, TODO: expose
3, // relative PLL phase bandwidth: 2**-3, TODO: expose
ADC_SAMPLE_TICKS_LOG2 as usize,
SAMPLE_BUFFER_SIZE_LOG2,
);
let lockin = Lockin::new(
&iir_int::IIRState::default(), // TODO: lowpass, expose
);
// Enable ADC/DAC events
stabilizer.adcs.0.start();
stabilizer.adcs.1.start();
stabilizer.dacs.0.start();
stabilizer.dacs.1.start();
// Start recording digital input timestamps.
stabilizer.timestamp_timer.start();
// Start sampling ADCs.
stabilizer.adc_dac_timer.start();
init::LateResources {
afes: stabilizer.afes,
adcs: stabilizer.adcs,
dacs: stabilizer.dacs,
net_interface: stabilizer.net.interface,
timestamper: stabilizer.timestamper,
pll,
lockin,
}
}
/// Main DSP processing routine for Stabilizer.
///
/// # Note
/// Processing time for the DSP application code is bounded by the following constraints:
///
/// DSP application code starts after the ADC has generated a batch of samples and must be
/// completed by the time the next batch of ADC samples has been acquired (plus the FIFO buffer
/// time). If this constraint is not met, firmware will panic due to an ADC input overrun.
///
/// The DSP application code must also fill out the next DAC output buffer in time such that the
/// DAC can switch to it when it has completed the current buffer. If this constraint is not met
/// it's possible that old DAC codes will be generated on the output and the output samples will
/// be delayed by 1 batch.
///
/// 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.
///
/// TODO: document lockin
#[task(binds=DMA1_STR4, resources=[adcs, dacs, iir_state, iir_ch, lockin, timestamper, pll], priority=2)]
fn process(c: process::Context) {
let adc_samples = [
c.resources.adcs.0.acquire_buffer(),
c.resources.adcs.1.acquire_buffer(),
];
let dac_samples = [
c.resources.dacs.0.acquire_buffer(),
c.resources.dacs.1.acquire_buffer(),
];
let iir_ch = c.resources.iir_ch;
let iir_state = c.resources.iir_state;
let lockin = c.resources.lockin;
let (pll_phase, pll_frequency) = c
.resources
.pll
.update(c.resources.timestamper.latest_timestamp());
// Harmonic index of the LO: -1 to _de_modulate the fundamental
let harmonic: i32 = -1;
// Demodulation LO phase offset
let phase_offset: i32 = 0;
let sample_frequency = (pll_frequency as i32).wrapping_mul(harmonic);
let mut sample_phase = phase_offset
.wrapping_add((pll_phase as i32).wrapping_mul(harmonic));
for i in 0..adc_samples[0].len() {
// Convert to signed, MSB align the ADC sample.
let input = (adc_samples[0][i] as i16 as i32) << 16;
// Obtain demodulated, filtered IQ sample.
let output = lockin.update(input, sample_phase);
// Advance the sample phase.
sample_phase = sample_phase.wrapping_add(sample_frequency);
// Convert from IQ to power and phase.
let mut power = output.power() as _;
let mut phase = output.phase() as _;
// Filter power and phase through IIR filters.
// Note: Normalization to be done in filters. Phase will wrap happily.
for j in 0..iir_state[0].len() {
power = iir_ch[0][j].update(&mut iir_state[0][j], power);
phase = iir_ch[1][j].update(&mut iir_state[1][j], phase);
}
// Note(unsafe): range clipping to i16 is ensured by IIR filters above.
// Convert to DAC data.
unsafe {
dac_samples[0][i] =
power.to_int_unchecked::<i16>() as u16 ^ 0x8000;
dac_samples[1][i] =
phase.to_int_unchecked::<i16>() as u16 ^ 0x8000;
}
}
}
#[idle(resources=[net_interface, iir_state, iir_ch, afes])]
fn idle(mut c: idle::Context) -> ! {
let mut socket_set_entries: [_; 8] = Default::default();
let mut sockets =
smoltcp::socket::SocketSet::new(&mut socket_set_entries[..]);
let mut rx_storage = [0; TCP_RX_BUFFER_SIZE];
let mut tx_storage = [0; TCP_TX_BUFFER_SIZE];
let tcp_handle = {
let tcp_rx_buffer =
smoltcp::socket::TcpSocketBuffer::new(&mut rx_storage[..]);
let tcp_tx_buffer =
smoltcp::socket::TcpSocketBuffer::new(&mut tx_storage[..]);
let tcp_socket =
smoltcp::socket::TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
sockets.add(tcp_socket)
};
let mut server = server::Server::new();
let mut time = 0u32;
let mut next_ms = Instant::now();
// TODO: Replace with reference to CPU clock from CCDR.
next_ms += 400_000.cycles();
loop {
let tick = Instant::now() > next_ms;
if tick {
next_ms += 400_000.cycles();
time += 1;
}
{
let socket =
&mut *sockets.get::<smoltcp::socket::TcpSocket>(tcp_handle);
if socket.state() == smoltcp::socket::TcpState::CloseWait {
socket.close();
} else if !(socket.is_open() || socket.is_listening()) {
socket
.listen(1235)
.unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
} else {
server.poll(socket, |req| {
info!("Got request: {:?}", req);
stabilizer::route_request!(req,
readable_attributes: [
"stabilizer/iir/state": (|| {
let state = c.resources.iir_state.lock(|iir_state|
server::Status {
t: time,
x0: iir_state[0][0][0],
y0: iir_state[0][0][2],
x1: iir_state[1][0][0],
y1: iir_state[1][0][2],
});
Ok::<server::Status, ()>(state)
}),
// "_b" means cascades 2nd IIR
"stabilizer/iir_b/state": (|| { let state = c.resources.iir_state.lock(|iir_state|
server::Status {
t: time,
x0: iir_state[0][IIR_CASCADE_LENGTH-1][0],
y0: iir_state[0][IIR_CASCADE_LENGTH-1][2],
x1: iir_state[1][IIR_CASCADE_LENGTH-1][0],
y1: iir_state[1][IIR_CASCADE_LENGTH-1][2],
});
Ok::<server::Status, ()>(state)
}),
"stabilizer/afe0/gain": (|| c.resources.afes.0.get_gain()),
"stabilizer/afe1/gain": (|| c.resources.afes.1.get_gain())
],
modifiable_attributes: [
"stabilizer/iir0/state": server::IirRequest, (|req: server::IirRequest| {
c.resources.iir_ch.lock(|iir_ch| {
if req.channel > 1 {
return Err(());
}
iir_ch[req.channel as usize][0] = req.iir;
Ok::<server::IirRequest, ()>(req)
})
}),
"stabilizer/iir1/state": server::IirRequest, (|req: server::IirRequest| {
c.resources.iir_ch.lock(|iir_ch| {
if req.channel > 1 {
return Err(());
}
iir_ch[req.channel as usize][0] = req.iir;
Ok::<server::IirRequest, ()>(req)
})
}),
"stabilizer/iir_b0/state": server::IirRequest, (|req: server::IirRequest| {
c.resources.iir_ch.lock(|iir_ch| {
if req.channel > 1 {
return Err(());
}
iir_ch[req.channel as usize][IIR_CASCADE_LENGTH-1] = req.iir;
Ok::<server::IirRequest, ()>(req)
})
}),
"stabilizer/iir_b1/state": server::IirRequest,(|req: server::IirRequest| {
c.resources.iir_ch.lock(|iir_ch| {
if req.channel > 1 {
return Err(());
}
iir_ch[req.channel as usize][IIR_CASCADE_LENGTH-1] = req.iir;
Ok::<server::IirRequest, ()>(req)
})
}),
"stabilizer/afe0/gain": hardware::AfeGain, (|gain| {
c.resources.afes.0.set_gain(gain);
Ok::<(), ()>(())
}),
"stabilizer/afe1/gain": hardware::AfeGain, (|gain| {
c.resources.afes.1.set_gain(gain);
Ok::<(), ()>(())
})
]
)
});
}
}
let sleep = match c.resources.net_interface.poll(
&mut sockets,
smoltcp::time::Instant::from_millis(time as i64),
) {
Ok(changed) => !changed,
Err(smoltcp::Error::Unrecognized) => true,
Err(e) => {
info!("iface poll error: {:?}", e);
true
}
};
if sleep {
cortex_m::asm::wfi();
}
}
}
#[task(binds = ETH, priority = 1)]
fn eth(_: eth::Context) {
unsafe { hal::ethernet::interrupt_handler() }
}
#[task(binds = SPI2, priority = 3)]
fn spi2(_: spi2::Context) {
panic!("ADC0 input overrun");
}
#[task(binds = SPI3, priority = 3)]
fn spi3(_: spi3::Context) {
panic!("ADC0 input overrun");
}
#[task(binds = SPI4, priority = 3)]
fn spi4(_: spi4::Context) {
panic!("DAC0 output error");
}
#[task(binds = SPI5, priority = 3)]
fn spi5(_: spi5::Context) {
panic!("DAC1 output error");
}
extern "C" {
// hw interrupt handlers for RTIC to use for scheduling tasks
// one per priority
fn DCMI();
fn JPEG();
fn SDMMC();
}
};

1
src/hardware/mod.rs
View File

@ -20,6 +20,7 @@ mod timers;
pub use adc::{Adc0Input, Adc1Input};
pub use afe::Gain as AfeGain;
pub use dac::{Dac0Output, Dac1Output};
pub use digital_input_stamper::InputStamper;
pub use pounder::DdsOutput;
// Type alias for the analog front-end (AFE) for ADC0.

8
src/lib.rs
View File

@ -1,16 +1,18 @@
#![no_std]
pub mod server;
#[macro_use]
extern crate log;
pub mod hardware;
pub mod server;
// The number of ticks in the ADC sampling timer. The timer runs at 100MHz, so the step size is
// equal to 10ns per tick.
// Currently, the sample rate is equal to: Fsample = 100/256 MHz = 390.625 KHz
const ADC_SAMPLE_TICKS: u16 = 256;
pub const ADC_SAMPLE_TICKS_LOG2: u16 = 8;
pub const ADC_SAMPLE_TICKS: u16 = 1 << ADC_SAMPLE_TICKS_LOG2;
// The desired ADC sample processing buffer size.
const SAMPLE_BUFFER_SIZE: usize = 8;
pub const SAMPLE_BUFFER_SIZE_LOG2: usize = 3;
pub const SAMPLE_BUFFER_SIZE: usize = 1 << SAMPLE_BUFFER_SIZE_LOG2;