From 4dcf2b57bdc540501238b238e0590d064034b88f Mon Sep 17 00:00:00 2001 From: Ryan Summers Date: Mon, 8 Jun 2020 09:36:28 +0200 Subject: [PATCH] Updating project structure --- .gitmodules | 3 + Cargo.lock | 390 ++++++------ Cargo.toml | 84 +-- ad9959/.gitignore | 2 + ad9959/Cargo.toml | 11 + ad9959/src/lib.rs | 350 +++++++++++ stabilizer/Cargo.lock | 583 ++++++++++++++++++ stabilizer/Cargo.toml | 76 +++ openocd.gdb => stabilizer/openocd.gdb | 0 {src => stabilizer/src}/afe.rs | 0 {src => stabilizer/src}/eeprom.rs | 0 {src => stabilizer/src}/eth.rs | 0 {src => stabilizer/src}/iir.rs | 0 {src => stabilizer/src}/main.rs | 88 +++ .../src}/pounder/attenuators.rs | 0 {src => stabilizer/src}/pounder/error.rs | 0 {src => stabilizer/src}/pounder/mod.rs | 0 {src => stabilizer/src}/pounder/rf_power.rs | 0 {src => stabilizer/src}/pounder/types.rs | 0 {src => stabilizer/src}/server.rs | 0 stm32h7xx-hal | 1 + 21 files changed, 1309 insertions(+), 279 deletions(-) create mode 100644 .gitmodules create mode 100644 ad9959/.gitignore create mode 100644 ad9959/Cargo.toml create mode 100644 ad9959/src/lib.rs create mode 100644 stabilizer/Cargo.lock create mode 100644 stabilizer/Cargo.toml rename openocd.gdb => stabilizer/openocd.gdb (100%) rename {src => stabilizer/src}/afe.rs (100%) rename {src => stabilizer/src}/eeprom.rs (100%) rename {src => stabilizer/src}/eth.rs (100%) rename {src => stabilizer/src}/iir.rs (100%) rename {src => stabilizer/src}/main.rs (90%) rename {src => stabilizer/src}/pounder/attenuators.rs (100%) rename {src => stabilizer/src}/pounder/error.rs (100%) rename {src => stabilizer/src}/pounder/mod.rs (100%) rename {src => stabilizer/src}/pounder/rf_power.rs (100%) rename {src => stabilizer/src}/pounder/types.rs (100%) rename {src => stabilizer/src}/server.rs (100%) create mode 160000 stm32h7xx-hal diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..5340aad --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "stm32h7xx-hal"] + path = 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{version = "0.2.3", features = ["unproven"]} +bit_field = "0.10.0" diff --git a/ad9959/src/lib.rs b/ad9959/src/lib.rs new file mode 100644 index 0000000..5346bdc --- /dev/null +++ b/ad9959/src/lib.rs @@ -0,0 +1,350 @@ +#![no_std] + +use bit_field::BitField; +use embedded_hal::{ + digital::v2::OutputPin, + blocking::delay::DelayMs, +}; + +/// A device driver for the AD9959 direct digital synthesis (DDS) chip. +/// +/// This chip provides four independently controllable digital-to-analog output sinusoids with +/// configurable phase, amplitude, and frequency. All channels are inherently synchronized as they +/// are derived off a common system clock. +/// +/// The chip contains a configurable PLL and supports system clock frequencies up to 500 MHz. +/// +/// The chip supports a number of serial interfaces to improve data throughput, including normal, +/// dual, and quad SPI configurations. +pub struct Ad9959 { + interface: INTERFACE, + delay: DELAY, + reference_clock_frequency: u32, + system_clock_multiplier: u8, + io_update: UPDATE, +} + +pub trait Interface { + type Error; + + fn configure_mode(&mut self, mode: Mode) -> Result<(), Self::Error>; + + fn write(&mut self, addr: u8, data: &[u8]) -> Result<(), Self::Error>; + + fn read(&mut self, addr: u8, dest: &mut [u8]) -> Result<(), Self::Error>; +} + +#[derive(Copy, Clone, PartialEq)] +pub enum Mode { + SingleBitTwoWire = 0b00, + SingleBitThreeWire = 0b01, + TwoBitSerial = 0b10, + FourBitSerial = 0b11, +} + +/// The configuration registers within the AD9959 DDS device. The values of each register are +/// equivalent to the address. +pub enum Register { + CSR = 0x00, + FR1 = 0x01, + FR2 = 0x02, + CFR = 0x03, + CFTW0 = 0x04, + CPOW0 = 0x05, + ACR = 0x06, + LSRR = 0x07, + RDW = 0x08, + FDW = 0x09, + CW1 = 0x0a, + CW2 = 0x0b, + CW3 = 0x0c, + CW4 = 0x0d, + CW5 = 0x0e, + CW6 = 0x0f, + CW7 = 0x10, + CW8 = 0x11, + CW9 = 0x12, + CW10 = 0x13, + CW11 = 0x14, + CW12 = 0x15, + CW13 = 0x16, + CW14 = 0x17, + CW15 = 0x18, +} + +/// Specifies an output channel of the AD9959 DDS chip. +pub enum Channel { + One = 0, + Two = 1, + Three = 2, + Four = 3, +} + +/// Possible errors generated by the AD9959 driver. +#[derive(Debug)] +pub enum Error { + Interface(InterfaceE), + Bounds, + Pin, + Frequency, +} + +impl From for Error { + fn from(interface_error: InterfaceE) -> Self { + Error::Interface(interface_error) + } +} + +impl Ad9959 +where + INTERFACE: Interface, + DELAY: DelayMs, + UPDATE: OutputPin, + +{ + pub fn new(interface: INTERFACE, + reset_pin: &mut RST, + io_update: UPDATE, + delay: DELAY, + desired_mode: Mode, + clock_frequency: u32, + multiplier: u8) -> Result> + where + RST: OutputPin, + { + let mut ad9959 = Ad9959 { + interface: interface, + io_update: io_update, + delay: delay, + reference_clock_frequency: clock_frequency, + system_clock_multiplier: 1, + }; + + ad9959.io_update.set_low().or_else(|_| Err(Error::Pin))?; + + // Reset the AD9959 + reset_pin.set_high().or_else(|_| Err(Error::Pin))?; + + // Delay for a clock cycle to allow the device to reset. + ad9959.delay.delay_ms((1000.0 / clock_frequency as f32) as u8); + + reset_pin.set_low().or_else(|_| Err(Error::Pin))?; + + ad9959.interface.configure_mode(Mode::SingleBitTwoWire)?; + + // Program the interface configuration in the AD9959. Default to all channels enabled. + let mut csr: [u8; 1] = [0xF0]; + csr[0].set_bits(1..3, desired_mode as u8); + ad9959.interface.write(0, &csr)?; + + // Configure the interface to the desired mode. + ad9959.interface.configure_mode(Mode::FourBitSerial)?; + + // Latch the configuration registers to make them active. + ad9959.latch_configuration()?; + + ad9959.interface.configure_mode(desired_mode)?; + + // Set the clock frequency to configure the device as necessary. + ad9959.configure_system_clock(clock_frequency, multiplier)?; + Ok(ad9959) + } + + fn latch_configuration(&mut self) -> Result<(), Error> { + self.io_update.set_high().or_else(|_| Err(Error::Pin))?; + // The SYNC_CLK is 1/4 the system clock frequency. The IO_UPDATE pin must be latched for one + // full SYNC_CLK pulse to register. For safety, we latch for 5 here. + self.delay.delay_ms((5000.0 / self.system_clock_frequency()) as u8); + self.io_update.set_low().or_else(|_| Err(Error::Pin))?; + + Ok(()) + } + + /// Configure the internal system clock of the chip. + /// + /// Arguments: + /// * `reference_clock_frequency` - The reference clock frequency provided to the AD9959 core. + /// * `prescaler` - The frequency prescaler of the system clock. Must be 1 or 4-20. + /// + /// Returns: + /// The actual frequency configured for the internal system clock. + pub fn configure_system_clock(&mut self, + reference_clock_frequency: u32, + prescaler: u8) -> Result> + { + self.reference_clock_frequency = reference_clock_frequency; + + if prescaler != 1 && (prescaler > 20 || prescaler < 4) { + return Err(Error::Bounds); + } + + let frequency = prescaler as f64 * self.reference_clock_frequency as f64; + if frequency > 500_000_000.0f64 { + return Err(Error::Frequency); + } + + // TODO: Update / disable any enabled channels? + let mut fr1: [u8; 3] = [0, 0, 0]; + self.interface.read(Register::FR1 as u8, &mut fr1)?; + fr1[0].set_bits(2..=6, prescaler); + + let vco_range = frequency > 255e6; + fr1[0].set_bit(7, vco_range); + + self.interface.write(Register::FR1 as u8, &fr1)?; + self.system_clock_multiplier = prescaler; + + Ok(self.system_clock_frequency()) + } + + /// Perform a self-test of the communication interface. + /// + /// Note: + /// This modifies the existing channel enables. They are restored upon exit. + /// + /// Returns: + /// True if the self test succeeded. False otherwise. + pub fn self_test(&mut self) -> Result> { + let mut csr: [u8; 1] = [0]; + self.interface.read(Register::CSR as u8, &mut csr)?; + let old_csr = csr[0]; + + // Enable all channels. + csr[0].set_bits(4..8, 0xF); + self.interface.write(Register::CSR as u8, &csr)?; + + // Read back the enable. + csr[0] = 0; + self.interface.read(Register::CSR as u8, &mut csr)?; + if csr[0].get_bits(4..8) != 0xF { + return Ok(false); + } + + // Clear all channel enables. + csr[0].set_bits(4..8, 0x0); + self.interface.write(Register::CSR as u8, &csr)?; + + // Read back the enable. + csr[0] = 0xFF; + self.interface.read(Register::CSR as u8, &mut csr)?; + if csr[0].get_bits(4..8) != 0 { + return Ok(false); + } + + // Restore the CSR. + csr[0] = old_csr; + self.interface.write(Register::CSR as u8, &csr)?; + + Ok(true) + } + + fn system_clock_frequency(&self) -> f64 { + self.system_clock_multiplier as f64 * self.reference_clock_frequency as f64 + } + + /// Enable an output channel. + pub fn enable_channel(&mut self, channel: Channel) -> Result<(), Error> { + let mut csr: [u8; 1] = [0]; + self.interface.read(Register::CSR as u8, &mut csr)?; + csr[0].set_bit(channel as usize + 4, true); + self.interface.write(Register::CSR as u8, &csr)?; + + Ok(()) + } + + /// Disable an output channel. + pub fn disable_channel(&mut self, channel: Channel) -> Result<(), Error> { + let mut csr: [u8; 1] = [0]; + self.interface.read(Register::CSR as u8, &mut csr)?; + csr[0].set_bit(channel as usize + 4, false); + self.interface.write(Register::CSR as u8, &csr)?; + + Ok(()) + } + + fn modify_channel(&mut self, channel: Channel, register: Register, data: &[u8]) -> Result<(), Error> { + let mut csr: [u8; 1] = [0]; + self.interface.read(Register::CSR as u8, &mut csr)?; + + let mut new_csr = csr; + new_csr[0].set_bits(4..8, 0); + new_csr[0].set_bit(4 + channel as usize, true); + + self.interface.write(Register::CSR as u8, &new_csr)?; + + self.interface.write(register as u8, &data)?; + + // Latch the configuration and restore the previous CSR. Note that the re-enable of the + // channel happens immediately, so the CSR update does not need to be latched. + self.latch_configuration()?; + self.interface.write(Register::CSR as u8, &csr)?; + + Ok(()) + } + + /// Configure the phase of a specified channel. + /// + /// Arguments: + /// * `channel` - The channel to configure the frequency of. + /// * `phase_turns` - The desired phase offset in normalized turns. + /// + /// Returns: + /// The actual programmed phase offset of the channel in degrees. + pub fn set_phase(&mut self, channel: Channel, phase_turns: f32) -> Result> { + if phase_turns > 1.0 || phase_turns < 0.0 { + return Err(Error::Bounds); + } + + let phase_offset: u16 = (phase_turns * 1u32.wrapping_shl(14) as f32) as u16; + self.modify_channel(channel, Register::CPOW0, &phase_offset.to_be_bytes())?; + Ok((phase_offset as f32 / 1u32.wrapping_shl(14) as f32) * 360.0) + } + + /// Configure the amplitude of a specified channel. + /// + /// Arguments: + /// * `channel` - The channel to configure the frequency of. + /// * `amplitude` - A normalized amplitude setting [0, 1]. + /// + /// Returns: + /// The actual normalized amplitude of the channel relative to full-scale range. + pub fn set_amplitude(&mut self, channel: Channel, amplitude: f32) -> Result> { + if amplitude < 0.0 || amplitude > 1.0 { + return Err(Error::Bounds); + } + + let amplitude_control: u16 = (amplitude / 1u16.wrapping_shl(10) as f32) as u16; + let mut acr: [u8; 3] = [0, amplitude_control.to_be_bytes()[0], amplitude_control.to_be_bytes()[1]]; + + // Enable the amplitude multiplier for the channel if required. The amplitude control has + // full-scale at 0x3FF (amplitude of 1), so the multiplier should be disabled whenever + // full-scale is used. + acr[1].set_bit(4, amplitude_control >= 1u16.wrapping_shl(10)); + + self.modify_channel(channel, Register::ACR, &acr)?; + + Ok(amplitude_control as f32 / 1_u16.wrapping_shl(10) as f32) + } + + /// Configure the frequency of a specified channel. + /// + /// Arguments: + /// * `channel` - The channel to configure the frequency of. + /// * `frequency` - The desired output frequency in Hz. + /// + /// Returns: + /// The actual programmed frequency of the channel. + pub fn set_frequency(&mut self, channel: Channel, frequency: f64) -> Result> { + if frequency < 0.0 || frequency > self.system_clock_frequency() { + return Err(Error::Bounds); + } + + // The function for channel frequency is `f_out = FTW * f_s / 2^32`, where FTW is the + // frequency tuning word and f_s is the system clock rate. + let tuning_word: u32 = ((frequency as f64 / self.system_clock_frequency()) + * 1u64.wrapping_shl(32) as f64) as u32; + + self.modify_channel(channel, Register::CFTW0, &tuning_word.to_be_bytes())?; + Ok((tuning_word as f64 / 1u64.wrapping_shl(32) as f64) * self.system_clock_frequency()) + } +} diff --git a/stabilizer/Cargo.lock b/stabilizer/Cargo.lock new file mode 100644 index 0000000..f6e7f56 --- /dev/null +++ b/stabilizer/Cargo.lock @@ -0,0 +1,583 @@ +# This file is automatically @generated by Cargo. +# It is not intended for manual editing. +[[package]] +name = "ad9959" +version = "0.1.0" +source = "git+https://github.com/quartiq/ad9959.git?branch=feature/basic-driver#b45bce3f0dd7a58b5a272b778001dc9422c2c160" +dependencies = [ + "bit_field 0.10.0 (registry+https://github.com/rust-lang/crates.io-index)", + "embedded-hal 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)", +] + +[[package]] +name = "aligned" +version = "0.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" + +[[package]] +name = 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+ +[badges] +travis-ci = { repository = "quartiq/stabilizer", branch = "master" } +maintenance = { status = "experimental" } + +[package.metadata.docs.rs] +features = [] +default-target = "thumbv7em-none-eabihf" + +[dependencies] +cortex-m = { version = "0.6", features = ["const-fn"] } +cortex-m-rt = { version = "0.6", features = ["device"] } +cortex-m-log = { version = "0.6", features = ["log-integration"] } +log = "0.4" +panic-semihosting = { version = "0.5", optional = true } +panic-halt = "0.2" +serde = { version = "1.0", features = ["derive"], default-features = false } +heapless = "0.5" +serde-json-core = "0.1" +cortex-m-rtfm = "0.5" +embedded-hal = "0.2.3" +nb = "0.1.2" +asm-delay = "0.7.0" +enum-iterator = "0.6.0" + +[dependencies.mcp23017] +git = "https://github.com/mrd0ll4r/mcp23017.git" + +[dependencies.smoltcp] +version = "0.6" +features = ["ethernet", "proto-ipv4", "socket-tcp", "proto-ipv6"] +default-features = false + +[dependencies.ad9959] +path = "../ad9959" + +[dependencies.stm32h7-ethernet] +git = "https://github.com/quartiq/stm32h7-ethernet.git" +features = ["stm32h743v"] + +[dependencies.stm32h7xx-hal] +path = "../stm32h7xx-hal/" +features = ["stm32h743v", "rt", "unproven"] + +[features] +semihosting = ["panic-semihosting", "cortex-m-log/semihosting"] +bkpt = [ ] +nightly = ["cortex-m/inline-asm"] + +[profile.dev] +codegen-units = 1 +incremental = false +opt-level = 3 + +[profile.release] +debug = true +lto = true +codegen-units = 1 diff --git a/openocd.gdb b/stabilizer/openocd.gdb similarity index 100% rename from openocd.gdb rename to stabilizer/openocd.gdb diff --git a/src/afe.rs b/stabilizer/src/afe.rs similarity index 100% rename from src/afe.rs rename to stabilizer/src/afe.rs diff --git a/src/eeprom.rs b/stabilizer/src/eeprom.rs similarity index 100% rename from src/eeprom.rs rename to stabilizer/src/eeprom.rs diff --git a/src/eth.rs b/stabilizer/src/eth.rs similarity index 100% rename from src/eth.rs rename to stabilizer/src/eth.rs diff --git a/src/iir.rs b/stabilizer/src/iir.rs similarity index 100% rename from src/iir.rs rename to stabilizer/src/iir.rs diff --git a/src/main.rs b/stabilizer/src/main.rs similarity index 90% rename from src/main.rs rename to stabilizer/src/main.rs index 99a8c5f..07f11b6 100644 --- a/src/main.rs +++ b/stabilizer/src/main.rs @@ -98,6 +98,8 @@ static mut NET_STORE: NetStorage = NetStorage { const SCALE: f32 = ((1 << 15) - 1) as f32; +const SPI_START_CODE: u32 = 0x201; + // static ETHERNET_PENDING: AtomicBool = AtomicBool::new(true); const TCP_RX_BUFFER_SIZE: usize = 8192; @@ -111,6 +113,86 @@ type AFE2 = afe::ProgrammableGainAmplifier< hal::gpio::gpiod::PD14>, hal::gpio::gpiod::PD15>>; + + + + +fn dma1_setup( + dma1: &pac::DMA1, + dmamux1: &pac::DMAMUX1, + ma: usize, + pa0: usize, + pa1: usize, +) { + dma1.st[0].cr.modify(|_, w| w.en().clear_bit()); + while dma1.st[0].cr.read().en().bit_is_set() {} + + dma1.st[0].par.write(|w| unsafe { w.bits(pa0 as u32) }); + dma1.st[0].m0ar.write(|w| unsafe { w.bits(ma as u32) }); + dma1.st[0].ndtr.write(|w| w.ndt().bits(1)); + dmamux1.ccr[0].modify(|_, w| w.dmareq_id().tim2_up()); + dma1.st[0].cr.modify(|_, w| { + w.pl() + .medium() + .circ() + .enabled() + .msize() + .bits32() + .minc() + .fixed() + .mburst() + .single() + .psize() + .bits32() + .pinc() + .fixed() + .pburst() + .single() + .dbm() + .disabled() + .dir() + .memory_to_peripheral() + .pfctrl() + .dma() + }); + dma1.st[0].fcr.modify(|_, w| w.dmdis().clear_bit()); + dma1.st[0].cr.modify(|_, w| w.en().set_bit()); + + dma1.st[1].cr.modify(|_, w| w.en().clear_bit()); + while dma1.st[1].cr.read().en().bit_is_set() {} + + dma1.st[1].par.write(|w| unsafe { w.bits(pa1 as u32) }); + dma1.st[1].m0ar.write(|w| unsafe { w.bits(ma as u32) }); + dma1.st[1].ndtr.write(|w| w.ndt().bits(1)); + dmamux1.ccr[1].modify(|_, w| w.dmareq_id().tim2_up()); + dma1.st[1].cr.modify(|_, w| { + w.pl() + .medium() + .circ() + .enabled() + .msize() + .bits32() + .minc() + .fixed() + .mburst() + .single() + .psize() + .bits32() + .pinc() + .fixed() + .pburst() + .single() + .dbm() + .disabled() + .dir() + .memory_to_peripheral() + .pfctrl() + .dma() + }); + dma1.st[1].fcr.modify(|_, w| w.dmdis().clear_bit()); + dma1.st[1].cr.modify(|_, w| w.en().set_bit()); +} + #[rtfm::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtfm::cyccnt::CYCCNT)] const APP: () = { struct Resources { @@ -442,6 +524,12 @@ const APP: () = { let mut timer2 = dp.TIM2.timer(500.khz(), &mut clocks); timer2.listen(hal::timer::Event::TimeOut); + dma1_setup(&dp.DMA1, + &dp.DMAMUX1, + &SPI_START_CODE as *const _ as usize, + &adc1_spi.spi.cr1 as *const _ as usize, + &adc2_spi.spi.cr1 as *const _ as usize); + init::LateResources { adc1: adc1_spi, dac1: dac1_spi, diff --git a/src/pounder/attenuators.rs b/stabilizer/src/pounder/attenuators.rs similarity index 100% rename from src/pounder/attenuators.rs rename to stabilizer/src/pounder/attenuators.rs diff --git a/src/pounder/error.rs b/stabilizer/src/pounder/error.rs similarity index 100% rename from src/pounder/error.rs rename to stabilizer/src/pounder/error.rs diff --git a/src/pounder/mod.rs b/stabilizer/src/pounder/mod.rs similarity index 100% rename from src/pounder/mod.rs rename to stabilizer/src/pounder/mod.rs diff --git a/src/pounder/rf_power.rs b/stabilizer/src/pounder/rf_power.rs similarity index 100% rename from src/pounder/rf_power.rs rename to stabilizer/src/pounder/rf_power.rs diff --git a/src/pounder/types.rs b/stabilizer/src/pounder/types.rs similarity index 100% rename from src/pounder/types.rs rename to stabilizer/src/pounder/types.rs diff --git a/src/server.rs b/stabilizer/src/server.rs similarity index 100% rename from src/server.rs rename to stabilizer/src/server.rs diff --git a/stm32h7xx-hal b/stm32h7xx-hal new file mode 160000 index 0000000..ba7d21a --- /dev/null +++ b/stm32h7xx-hal @@ -0,0 +1 @@ +Subproject commit ba7d21a018752c2cf9303470badfa8dbf14dc3aa