Adding documentation

src/bin/dual-iir.rs

@@ -153,7 +153,6 @@ const APP: () = {
         }
 
         // Update telemetry measurements.
-        // TODO: Should we report these as voltages?
         c.resources.telemetry.latest_samples =
             [adc_samples[0][0] as i16, adc_samples[1][0] as i16];
 
@@ -197,7 +196,7 @@ const APP: () = {
         c.resources
             .network
             .telemetry
-            .publish(&telemetry.to_telemetry(gains[0], gains[1]));
+            .publish(&telemetry.finalize(gains[0], gains[1]));
 
         let telemetry_period = c
             .resources

src/bin/lockin.rs

@@ -243,7 +243,7 @@ const APP: () = {
         c.resources
             .network
             .telemetry
-            .publish(&telemetry.to_telemetry(gains[0], gains[1]));
+            .publish(&telemetry.finalize(gains[0], gains[1]));
 
         let telemetry_period = c
             .resources

src/hardware/afe.rs

@@ -21,13 +21,13 @@ pub struct ProgrammableGainAmplifier<A0, A1> {
 }
 
 impl Gain {
-    /// Get the AFE gain as a multiplying integer.
+    /// Get the AFE gain as a numerical value.
-    pub fn to_multiplier(&self) -> u8 {
+    pub fn as_multiplier (self) -> f32 {
         match self {
-            Gain::G1 => 1,
+            Gain::G1 => 1.0,
-            Gain::G2 => 2,
+            Gain::G2 => 2.0,
-            Gain::G5 => 5,
+            Gain::G5 => 5.0,
-            Gain::G10 => 10,
+            Gain::G10 => 10.0,
         }
     }
 }

src/hardware/system_timer.rs

@@ -1,11 +1,33 @@
+///! System timer used for RTIC scheduling
+///!
+///! # Design
+///! The SystemTimer is an RTIC monotonic timer that can be used for scheduling tasks in RTIC.
+///! This timer is used in place of the cycle counter to allow the timer to tick at a slower rate
+///! than the CPU clock. This allows for longer scheduling periods with less resolution. This is
+///! needed for infrequent (e.g. multiple second) telemetry periods.
+///!
+///! # Limitations
+///! This implementation relies on sufficient timer polling to not miss timer counter overflows. If
+///! the timer is not polled often enough, it's possible that an overflow would be missed and time
+///! would "halt" for a shore period of time. This could be fixed in the future by instead
+///! listening for the overflow interrupt instead of polling the overflow state.
 use hal::prelude::*;
 use stm32h7xx_hal as hal;
 
+// A global buffer indicating how many times the internal counter has overflowed.
 static mut OVERFLOWS: u32 = 0;
 
+/// System timer used for implementing RTIC scheduling.
+///
+/// # Note
+/// The system timer must be initialized before being used.
 pub struct SystemTimer {}
 
 impl SystemTimer {
+    /// Initialize the system timer.
+    ///
+    /// # Args
+    /// * `timer` - The hardware timer used for implementing the RTIC monotonic.
     pub fn initialize(mut timer: hal::timer::Timer<hal::device::TIM15>) {
         timer.pause();
         // Have the system timer operate at a tick rate of 10KHz (100uS per tick). With this
@@ -16,26 +38,45 @@ impl SystemTimer {
         timer.resume();
     }
 
+    /// Convert a provided number of seconds into timer ticks.
     pub fn ticks_from_secs(secs: u32) -> i32 {
         (secs * 10_000) as i32
     }
 }
 
 impl rtic::Monotonic for SystemTimer {
+    // Instants are stored in 32-bit signed integers. With a 10KHz tick rate, this means an
+    // instant can store up to ~59 hours of time before overflowing.
     type Instant = i32;
 
     fn ratio() -> rtic::Fraction {
         rtic::Fraction {
+            // At 10KHz with a 400MHz CPU clock, the CPU clock runs 40,000 times faster than
+            // the system timer.
             numerator: 40_000,
             denominator: 1,
         }
     }
 
+    /// Get the current time instant.
+    ///
+    /// # Note
+    /// The time will overflow into -59 hours after the first 59 hours. This time value is intended
+    /// for use in calculating time delta, and should not be used for timestamping purposes due to
+    /// roll-over.
     fn now() -> i32 {
+        // Note(unsafe): Multiple interrupt contexts have access to the underlying timer, so care
+        // is taken when reading and modifying register values.
         let regs = unsafe { &*hal::device::TIM15::ptr() };
 
         loop {
-            // Check for overflows
+            // Checking for overflows of the current counter must be performed atomically. Any
+            // other task that is accessing the current time could potentially race for the
+            // registers. Note that this is only required for writing to global state (e.g. timer
+            // registers and overflow counter)
+            cortex_m::interrupt::free(|_cs| {
+                // Check for overflows and clear the overflow bit atomically. This must be done in
+                // a critical section to prevent race conditions on the status register.
                 if regs.sr.read().uif().bit_is_set() {
                     regs.sr.modify(|_, w| w.uif().clear_bit());
                     unsafe {
@@ -45,23 +86,25 @@ impl rtic::Monotonic for SystemTimer {
 
                 let current_value = regs.cnt.read().bits();
 
-            // If the overflow is still unset, return our latest count, as it indicates we weren't
+                // Check that an overflow didn't occur since we just cleared the overflow bit. If
-            // pre-empted.
+                // it did, loop around and retry.
                 if regs.sr.read().uif().bit_is_clear() {
-                unsafe {
+                    return (overflows * 65535 + current_value) as i32;
-                    return (OVERFLOWS * 65535 + current_value) as i32;
                 }
             }
         }
     }
 
+    /// Reset the timer count.
     unsafe fn reset() {
         // Note: The timer must be safely configured in `SystemTimer::initialize()`.
         let regs = &*hal::device::TIM15::ptr();
 
+        OVERFLOWS = 0;
         regs.cnt.reset();
     }
 
+    /// Get a timestamp correlating to zero time.
     fn zero() -> i32 {
         0
     }

src/net/miniconf_client.rs

@@ -1,7 +1,18 @@
-use crate::hardware::design_parameters::MQTT_BROKER;
+///! Stabilizer Run-time Settings Client
-
+///!
+///! # Design
+///! Stabilizer allows for settings to be configured at run-time via MQTT using miniconf.
+///! Settings are written in serialized JSON form to the settings path associated with the setting.
+///!
+///! # Limitations
+///! The MQTT client logs failures to subscribe to the settings topic, but does not re-attempt to
+///connect to it when errors occur.
+///!
+///! 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 crate::hardware::design_parameters::MQTT_BROKER;
 use super::{MqttMessage, NetworkReference, SettingsResponse, UpdateState};
 
 /// MQTT settings interface.
@@ -144,6 +155,7 @@ where
         }
     }
 
+    /// Get the current settings from miniconf.
     pub fn settings(&self) -> &S {
         &self.settings
     }

src/net/mod.rs

@@ -1,4 +1,3 @@
-use core::fmt::Write;
 ///! Stabilizer network management module
 ///!
 ///! # Design
@@ -10,6 +9,8 @@ use heapless::{consts, String};
 use miniconf::Miniconf;
 use serde::Serialize;
 
+use core::fmt::Write;
+
 mod messages;
 mod miniconf_client;
 mod shared;
@@ -32,6 +33,7 @@ pub enum UpdateState {
     Updated,
 }
 
+/// A structure of Stabilizer's default network users.
 pub struct NetworkUsers<S: Default + Clone + Miniconf, T: Serialize> {
     pub miniconf: MiniconfClient<S>,
     pub processor: NetworkProcessor,
@@ -43,6 +45,17 @@ where
     S: Default + Clone + Miniconf,
     T: Serialize,
 {
+    /// Construct Stabilizer's default network users.
+    ///
+    /// # Args
+    /// * `stack` - The network stack that will be used to share with all network users.
+    /// * `phy` - The ethernet PHY connecting the network.
+    /// * `cycle_counter` - The clock used for measuring time in the network.
+    /// * `app` - The name of the application.
+    /// * `mac` - The MAC address of the network.
+    ///
+    /// # Returns
+    /// A new struct of network users.
     pub fn new(
         stack: NetworkStack,
         phy: EthernetPhy,
@@ -81,6 +94,10 @@ where
         }
     }
 
+    /// Update and process all of the network users state.
+    ///
+    /// # Returns
+    /// An indication if any of the network users indicated a state change.
     pub fn update(&mut self) -> UpdateState {
         // Poll for incoming data.
         let poll_result = self.processor.update();
@@ -95,6 +112,15 @@ where
     }
 }
 
+/// Get an MQTT client ID for a client.
+///
+/// # Args
+/// * `app` - The name of the application
+/// * `client` - The unique tag of the client
+/// * `mac` - The MAC address of the device.
+///
+/// # Returns
+/// A client ID that may be used for MQTT client identification.
 fn get_client_id(
     app: &str,
     client: &str,

src/net/network_processor.rs

@@ -1,7 +1,12 @@
+///! Task to process network hardware.
+///!
+///! # Design
+///! The network processir is a small taks to regularly process incoming data over ethernet, handle
+///! the ethernet PHY state, and reset the network as appropriate.
 use super::{NetworkReference, UpdateState};
-
 use crate::hardware::{CycleCounter, EthernetPhy};
 
+/// Processor for managing network hardware.
 pub struct NetworkProcessor {
     stack: NetworkReference,
     phy: EthernetPhy,
@@ -10,6 +15,15 @@ pub struct NetworkProcessor {
 }
 
 impl NetworkProcessor {
+    /// Construct a new network processor.
+    ///
+    /// # Args
+    /// * `stack` - A reference to the shared network stack
+    /// * `phy` - The ethernet PHY used for the network.
+    /// * `clock` - The clock used for providing time to the network.
+    ///
+    /// # Returns
+    /// The newly constructed processor.
     pub fn new(
         stack: NetworkReference,
         phy: EthernetPhy,
@@ -23,6 +37,14 @@ impl NetworkProcessor {
         }
     }
 
+    /// Process and update the state of the network.
+    ///
+    /// # Note
+    /// This function should be called regularly before other network tasks to update the state of
+    /// all relevant network sockets.
+    ///
+    /// # Returns
+    /// An update state corresponding with any changes in the underlying network.
     pub fn update(&mut self) -> UpdateState {
         // Service the network stack to process any inbound and outbound traffic.
         let now = self.clock.current_ms();

src/net/shared.rs

@@ -1,18 +1,50 @@
+///! Network Stack Sharing Utilities
+///!
+///! # Design
+///! This module provides a mechanism for sharing a single network stack safely between drivers
+///that may or may not execute in multiple contexts. The design copies that of `shared-bus`.
+///!
+///! Specifically, the network stack is stored in a global static singleton and proxies to the
+///! underlying stack are handed out. The proxies provide an identical API for the
+///! `embedded_nal::TcpStack` stack trait, so they can be provided direclty to drivers that require
+///! a network stack.
+///!
+///! In order to ensure that pre-emption does not occur while accessing the same network stack from
+///! multiple interrupt contexts, the proxy uses an atomic boolean check - if the flag indicates the
+///! stack is in use, the proxy will generate a panic. The actual synchronization mechanism (mutex)
+///! leverages RTIC resource allocation. All devices that use the underlying network stack must be
+///! placed in a single RTIC resource, which will cause RTIC to prevent contention for the
+///! underlying network stack.
 use minimq::embedded_nal;
 use shared_bus::{AtomicCheckMutex, BusMutex};
 
 use crate::hardware::NetworkStack;
 
+/// A manager for a shared network stack.
+pub struct NetworkManager {
+    mutex: AtomicCheckMutex<NetworkStack>,
+}
+
+/// A basic proxy that references a shared network stack.
 pub struct NetworkStackProxy<'a, S> {
     mutex: &'a AtomicCheckMutex<S>,
 }
 
 impl<'a, S> NetworkStackProxy<'a, S> {
+    /// Using the proxy, access the underlying network stack directly.
+    ///
+    /// # Args
+    /// * `f` - A closure which will be provided the network stack as an argument.
+    ///
+    /// # Returns
+    /// Any value returned by the provided closure
     pub fn lock<R, F: FnOnce(&mut S) -> R>(&mut self, f: F) -> R {
         self.mutex.lock(|stack| f(stack))
     }
 }
 
+// A simple forwarding macro taken from the `embedded-nal` to forward the embedded-nal API into the
+// proxy structure.
 macro_rules! forward {
     ($func:ident($($v:ident: $IT:ty),*) -> $T:ty) => {
         fn $func(&self, $($v: $IT),*) -> $T {
@@ -21,6 +53,7 @@ macro_rules! forward {
     }
 }
 
+// Implement a TCP stack for the proxy if the underlying network stack implements it.
 impl<'a, S> embedded_nal::TcpStack for NetworkStackProxy<'a, S>
 where
     S: embedded_nal::TcpStack,
@@ -36,17 +69,22 @@ where
     forward! {close(socket: S::TcpSocket) -> Result<(), S::Error>}
 }
 
-pub struct NetworkManager {
-    mutex: AtomicCheckMutex<NetworkStack>,
-}
-
 impl NetworkManager {
+    /// Construct a new manager for a shared network stack
+    ///
+    /// # Args
+    /// * `stack` - The network stack that is being shared.
     pub fn new(stack: NetworkStack) -> Self {
         Self {
             mutex: AtomicCheckMutex::create(stack),
         }
     }
 
+    /// Acquire a proxy to the shared network stack.
+    ///
+    /// # Returns
+    /// A proxy that can be used in place of the network stack. Note the requirements of
+    /// concurrency listed in the description of this file for usage.
     pub fn acquire_stack<'a>(&'a self) -> NetworkStackProxy<'a, NetworkStack> {
         NetworkStackProxy { mutex: &self.mutex }
     }

src/net/telemetry.rs

@@ -1,19 +1,50 @@
+///! Stabilizer Telemetry Capabilities
+///!
+///! # Design
+///! Telemetry is reported regularly using an MQTT client. All telemetry is reported in SI units
+///! using standard JSON format.
+///!
+///! In order to report ADC/DAC codes generated during the DSP routines, a telemetry buffer is
+///! employed to track the latest codes. Converting these codes to SI units would result in
+///! repetitive and unnecessary calculations within the DSP routine, slowing it down and limiting
+///! 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 serde::Serialize;
-
-use super::NetworkReference;
-use crate::hardware::design_parameters::MQTT_BROKER;
 use minimq::QoS;
 
-use crate::hardware::AfeGain;
+use super::NetworkReference;
+use crate::hardware::{AfeGain, design_parameters::MQTT_BROKER};
 
+/// The telemetry client for reporting telemetry data over MQTT.
+pub struct TelemetryClient<T: Serialize> {
+    mqtt: minimq::MqttClient<minimq::consts::U256, NetworkReference>,
+    telemetry_topic: String<consts::U128>,
+    _telemetry: core::marker::PhantomData<T>,
+}
+
+/// The telemetry buffer is used for storing sample values during execution.
+///
+/// # Note
+/// These values can be converted to SI units immediately before reporting to save processing time.
+/// This allows for the DSP process to continually update the values without incurring significant
+/// run-time overhead during conversion to SI units.
 #[derive(Copy, Clone)]
 pub struct TelemetryBuffer {
+    /// The latest input sample on ADC0/ADC1.
     pub latest_samples: [i16; 2],
+    /// The latest output code on DAC0/DAC1.
     pub latest_outputs: [u16; 2],
+    /// The latest digital input states during processing.
     pub digital_inputs: [bool; 2],
 }
 
+/// The telemetry structure is data that is ultimately reported as telemetry over MQTT.
+///
+/// # Note
+/// This structure should be generated on-demand by the buffer when required to minimize conversion
+/// overhead.
 #[derive(Serialize)]
 pub struct Telemetry {
     input_levels: [f32; 2],
@@ -32,16 +63,37 @@ impl Default for TelemetryBuffer {
 }
 
 impl TelemetryBuffer {
-    pub fn to_telemetry(self, afe0: AfeGain, afe1: AfeGain) -> Telemetry {
+    /// Convert the telemetry buffer to finalized, SI-unit telemetry for reporting.
+    ///
+    /// # Args
+    /// * `afe0` - The current AFE configuration for channel 0.
+    /// * `afe1` - The current AFE configuration for channel 1.
+    ///
+    /// # Returns
+    /// The finalized telemetry structure that can be serialized and reported.
+    pub fn finalize(self, afe0: AfeGain, afe1: AfeGain) -> Telemetry {
+
+        // The input voltage is measured by the ADC across a dynamic scale of +/- 4.096 V with a
+        // dynamic range across signed integers. Additionally, the signal is fully differential, so
+        // the differential voltage is measured at the ADC. Thus, the single-ended signal is
+        // measured at the input is half of the ADC-reported measurement. As a pre-filter, the
+        // input signal has a fixed gain of 1/5 through a static input active filter. Finally, at
+        // the very front-end of the signal, there's an analog input multiplier that is
+        // configurable by the user.
         let in0_volts =
             (self.latest_samples[0] as f32 / i16::MAX as f32) * 4.096 / 2.0
                 * 5.0
-                / afe0.to_multiplier() as f32;
+                / afe0.as_multiplier();
         let in1_volts =
             (self.latest_samples[1] as f32 / i16::MAX as f32) * 4.096 / 2.0
                 * 5.0
-                / afe1.to_multiplier() as f32;
+                / afe1.as_multiplier();
 
+        // The output voltage is generated by the DAC with an output range of +/- 4.096 V. This
+        // signal then passes through a 2.5x gain stage. Note that the DAC operates using unsigned
+        // integers, and u16::MAX / 2 is considered zero voltage output. Thus, the dynamic range of
+        // the output stage is +/- 10.24 V. At a DAC code of zero, there is an output of -10.24 V,
+        // and at a max DAC code, there is an output of 10.24 V.
         let out0_volts = (10.24 * 2.0)
             * (self.latest_outputs[0] as f32 / (u16::MAX as f32))
             - 10.24;
@@ -57,13 +109,16 @@ impl TelemetryBuffer {
     }
 }
 
-pub struct TelemetryClient<T: Serialize> {
-    mqtt: minimq::MqttClient<minimq::consts::U256, NetworkReference>,
-    telemetry_topic: String<consts::U128>,
-    _telemetry: core::marker::PhantomData<T>,
-}
-
 impl<T: Serialize> TelemetryClient<T> {
+    /// Construct a new telemetry client.
+    ///
+    /// # Args
+    /// * `stack` - A reference to the (shared) underlying network stack.
+    /// * `client_id` - The MQTT client ID of the telemetry client.
+    /// * `prefix` - The device prefix to use for MQTT telemetry reporting.
+    ///
+    /// # Returns
+    /// A new telemetry client.
     pub fn new(stack: NetworkReference, client_id: &str, prefix: &str) -> Self {
         let mqtt =
             minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
@@ -79,6 +134,14 @@ impl<T: Serialize> TelemetryClient<T> {
         }
     }
 
+    /// Publish telemetry over MQTT
+    ///
+    /// # Note
+    /// Telemetry is reported in a "best-effort" fashion. Failure to transmit telemetry will cause
+    /// it to be silently dropped.
+    ///
+    /// # Args
+    /// * `telemetry` - The telemetry to report
     pub fn publish(&mut self, telemetry: &T) {
         let telemetry: Vec<u8, consts::U256> =
             serde_json_core::to_vec(telemetry).unwrap();
@@ -87,6 +150,12 @@ impl<T: Serialize> TelemetryClient<T> {
             .ok();
     }
 
+    /// Update the telemetry client
+    ///
+    /// # Note
+    /// This function is provided to force the underlying MQTT state machine to process incoming
+    /// and outgoing messages. Without this, the client will never connect to the broker. This
+    /// should be called regularly.
     pub fn update(&mut self) {
         match self.mqtt.poll(|_client, _topic, _message, _properties| {}) {
             Err(minimq::Error::Network(