Merge #358
358: RTT logging, probe-run r=jordens a=jordens - use rtt logging - remove rtt feature - update hitl script - README: streamline docs a bit, add probe-run - CHANGELOG: update - README: document lockin, cleanup instructions, use probe-run - set target-cpu=cortex-m7, MSRV 1.52.0, use probe-run Co-authored-by: Robert Jördens <rj@quartiq.de>
This commit is contained in:
bors[bot]
GitHub
commit
567e877485
@ -1,15 +1,10 @@
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[target.'cfg(all(target_arch = "arm", target_os = "none"))']
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runner = "gdb-multiarch -q -x openocd.gdb"
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runner = "probe-run --chip STM32H743ZITx --speed 30000"
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# runner = "gdb-multiarch -q -x openocd.gdb"
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rustflags = [
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"-C", "link-arg=-Tlink.x",
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# The target (below) defaults to cortex-m4
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# There currently are two different options to go beyond that:
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# 1. cortex-m7 has the right flags and instructions (FPU) but no instruction schedule yet
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# "-C", "target-cpu=cortex-m7",
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# 2. cortex-m4 with the additional fpv5 instructions and a potentially
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# better-than-nothing instruction schedule
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"-C", "target-feature=+fp-armv8d16",
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# When combined they are equivalent to (1) alone
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"-C", "link-arg=--nmagic",
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"-C", "target-cpu=cortex-m7",
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]
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[build]
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@ -10,10 +10,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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### Added
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* Telemetry
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* RTT logging
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### Changed
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* Const generics bumping the MSRV to 1.51.0
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* Const generics, bumping the MSRV to 1.51.0
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* `lockin-internal` and `lockin-external` have been merged into `lockin`
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* Set target CPU to cortex-m7, effectively bumping the MSRV to 1.52.0
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### Fixed
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60
Cargo.lock
generated
60
Cargo.lock
generated
@ -133,17 +133,6 @@ dependencies = [
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"volatile-register",
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]
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[[package]]
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name = "cortex-m-log"
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version = "0.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0e202d2eac4e34adf7524a563e36623bae6f69cc0a73ef9bd22a4c93a5a806fa"
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dependencies = [
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"cortex-m 0.7.2",
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"cortex-m-semihosting",
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"log",
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]
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[[package]]
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name = "cortex-m-rt"
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version = "0.6.13"
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@ -191,15 +180,6 @@ dependencies = [
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"syn",
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]
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[[package]]
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name = "cortex-m-semihosting"
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version = "0.3.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "6bffa6c1454368a6aa4811ae60964c38e6996d397ff8095a8b9211b1c1f749bc"
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dependencies = [
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"cortex-m 0.7.2",
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]
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[[package]]
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name = "derivative"
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version = "2.2.0"
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@ -562,16 +542,6 @@ dependencies = [
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"syn",
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]
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[[package]]
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name = "panic-semihosting"
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version = "0.5.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c3d55dedd501dfd02514646e0af4d7016ce36bc12ae177ef52056989966a1eec"
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dependencies = [
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"cortex-m 0.7.2",
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"cortex-m-semihosting",
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]
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[[package]]
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name = "paste"
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version = "1.0.5"
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@ -671,6 +641,26 @@ dependencies = [
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"syn",
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]
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[[package]]
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name = "rtt-logger"
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version = "0.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d082d3a20a5d4f69ad509720de1777fe5aa2092ea1af51b254ff79113d46d2ea"
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dependencies = [
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"log",
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"rtt-target",
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]
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[[package]]
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name = "rtt-target"
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version = "0.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0869b4c5b6a6d8c5583fc473f9eb3423a170f77626b8c8a7fb18eddcda5770e2"
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dependencies = [
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"cortex-m 0.6.7",
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"ufmt-write",
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]
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[[package]]
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name = "rustc_version"
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version = "0.2.3"
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@ -771,7 +761,6 @@ dependencies = [
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"ad9959",
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"asm-delay",
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"cortex-m 0.6.7",
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"cortex-m-log",
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"cortex-m-rt",
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"cortex-m-rtic",
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"dsp",
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@ -783,8 +772,9 @@ dependencies = [
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"minimq",
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"nb 1.0.0",
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"num_enum",
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"panic-semihosting",
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"paste",
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"rtt-logger",
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"rtt-target",
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"serde",
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"serde-json-core",
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"shared-bus",
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@ -846,6 +836,12 @@ version = "1.13.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "879f6906492a7cd215bfa4cf595b600146ccfac0c79bcbd1f3000162af5e8b06"
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[[package]]
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name = "ufmt-write"
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version = "0.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e87a2ed6b42ec5e28cc3b94c09982969e9227600b2e3dcbc1db927a84c06bd69"
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[[package]]
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name = "unicode-xid"
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version = "0.2.1"
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@ -30,9 +30,9 @@ members = ["ad9959", "dsp"]
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[dependencies]
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cortex-m = { version = "0.6", features = ["const-fn"] }
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cortex-m-rt = { version = "0.6", features = ["device"] }
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cortex-m-log = { version = "0.7", features = ["log-integration"] }
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log = "0.4"
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panic-semihosting = { version = "0.5", optional = true }
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log = { version = "0.4", features = ["max_level_trace", "release_max_level_info"] }
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rtt-target = { version = "0.2.1", features = ["cortex-m"] }
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rtt-logger = { version = "0.1" }
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serde = { version = "1.0", features = ["derive"], default-features = false }
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heapless = { version = "0.6", features = ["serde"] }
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cortex-m-rtic = "0.5.6"
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@ -68,7 +68,6 @@ git = "https://github.com/quartiq/minimq.git"
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rev = "d2ec3e8"
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[features]
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semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
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bkpt = [ ]
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nightly = ["cortex-m/inline-asm", "dsp/nightly"]
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pounder_v1_1 = [ ]
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43
README.md
43
README.md
@ -10,10 +10,10 @@
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## Applications
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The Stabilizer firmware offeres a library of hardware and software functionality
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exposing input/output, timing, and digital signal processing features.
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An application can compose and configure these hardware and software components
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to implement different use cases. Several applications are provides by default
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This firmware offers a library of hardware and software functionality targeting the use of the Stabilizer hardware in various digital signal processing applications commonly occurring in Quantum Technology.
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It provides abstractions over the fast analog inputs and outputs, time stamping, Pounder DDS interfaces and a collection of tailored and optimized digital signal processing algorithms (IIR, FIR, Lockin, PLL, reciprocal PLL, Unwrapper, Lowpass, Cosine-Sine, Atan2).
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An application can compose and configure these hardware and software components to implement different use cases.
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Several applications are provides by default:
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### Dual-IIR
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@ -31,23 +31,34 @@ to implement different use cases. Several applications are provides by default
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### Lockin
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* Up to 800 kHz sampling
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* Up to 400 kHz modulation frequency
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* Reciprocal PLL for external reference
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* Internal reference
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* Adjustable PLL and locking time constants
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* Adjustable phase offset and harmonic index
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* Different output modes (in-phase, quadrature, magnitude, log2 power, phase, frequency)
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## Minimal bootstrapping documentation
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* Clone or download this
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* Get [rustup](https://rustup.rs/)
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* `rustup target add thumbv7em-none-eabihf`
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* `cargo build --release`
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* Minimum supported Rust version (MSRV) is 1.51.0
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* Minimum supported Rust version (MSRV) is 1.52.0
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* Install target support: `rustup target add thumbv7em-none-eabihf`
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* Install `probe-run`: `cargo install probe-run`
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* `cargo run --release --bin dual-iir`
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* When using debug (non `--release`) mode, increase the sample interval significantly.
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The added error checking code and missing optimizations may lead to the code
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missing deadlines and panicing.
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### Using Cargo-embed
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## Alternative flashing tools
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### Cargo-embed
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* Install `cargo-embed`: `cargo install cargo-embed`
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* Program the device: `cargo embed --bin dual-iir --release`
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### Using GDB/OpenOCD
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### GDB/OpenOCD
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* Get a recent openocd, a JTAG adapter ("st-link" or some clone) and
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everything connected and permissions setup. Most
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@ -57,24 +68,24 @@ to implement different use cases. Several applications are provides by default
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* `openocd -f stabilizer.cfg` and leave it running
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* `cargo run --release`
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### Using USB-DFU
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### USB-DFU
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* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
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* `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
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* Install the DFU USB tool (`dfu-util`)
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* Connect to the Micro USB connector below the RJ45
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* Short JC2/BOOT
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* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
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* `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
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* `dfu-util -a 0 -s 0x08000000:leave -D dual-iir.bin`
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### Using ST-Link virtual mass storage
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### ST-Link virtual mass storage
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* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
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* `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
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* Prepare `dual-iir.bin` like above
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* Connect the ST-Link debugger
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* copy `dual-iir.bin` to the `NODE_H743ZI` USB disk
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* Copy `dual-iir.bin` to the `NODE_H743ZI` virtual mass storage device
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## Protocol
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Stabilizer can be configured via MQTT. Refer to
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[`miniconf`](https://github.com/quartiq/miniconf) for more information about topics.
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A basic command line interface is available in [`miniconf.py`](miniconf.py).
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Telemetry is published via MQTT as well.
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@ -15,9 +15,9 @@ python3 -m venv --system-site-packages py
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. py/bin/activate
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python3 -m pip install -r requirements.txt
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cargo flash --elf target/thumbv7em-none-eabihf/release/dual-iir --chip STM32H743ZITx
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probe-run --chip STM32H743ZITx target/thumbv7em-none-eabihf/release/dual-iir &
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# Before attempting to ping the device, sleep to allow Stabilizer to boot.
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# Sleep to allow flashing, booting, DHCP, MQTT
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sleep 30
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# Test pinging Stabilizer. This exercises that:
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@ -30,3 +30,6 @@ ping -c 5 -w 20 stabilizer-hitl
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python3 miniconf.py dt/sinara/dual-iir/04-91-62-d9-7e-5f afe/0='"G2"'
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python3 miniconf.py dt/sinara/dual-iir/04-91-62-d9-7e-5f afe/0='"G1"' iir_ch/0/0=\
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'{"y_min": -32767, "y_max": 32767, "y_offset": 0, "ba": [1.0, 0, 0, 0, 0]}'
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kill $(jobs -p)
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wait || true
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@ -145,19 +145,19 @@ pub fn setup(
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.pll2_q_ck(100.mhz())
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.freeze(vos, &device.SYSCFG);
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#[cfg(feature = "semihosting")]
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// Set up RTT logging
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{
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use cortex_m_log::log::{init as init_log, Logger};
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use cortex_m_log::printer::semihosting::{hio::HStdout, InterruptOk};
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use log::LevelFilter;
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static mut LOGGER: Option<Logger<InterruptOk<HStdout>>> = None;
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let logger = Logger {
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inner: InterruptOk::<_>::stdout().unwrap(),
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level: LevelFilter::Info,
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};
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let logger = unsafe { LOGGER.get_or_insert(logger) };
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// Enable debug during WFE/WFI-induced sleep
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device.DBGMCU.cr.modify(|_, w| w.dbgsleep_d1().set_bit());
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init_log(logger).unwrap();
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use rtt_logger::RTTLogger;
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static LOGGER: RTTLogger = RTTLogger::new(log::LevelFilter::Info);
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rtt_target::rtt_init_print!(NoBlockSkip, 1024);
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log::set_logger(&LOGGER)
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.map(|()| log::set_max_level(log::LevelFilter::Trace))
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.unwrap();
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log::info!("starting...");
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}
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// Set up the system timer for RTIC scheduling.
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@ -537,6 +537,7 @@ pub fn setup(
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&mut eeprom_i2c,
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&mut delay,
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));
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log::info!("EUI48: {}", mac_addr);
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let network_devices = {
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// Configure the ethernet controller
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@ -673,6 +674,7 @@ pub fn setup(
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let pounder_pgood = gpiob.pb13.into_pull_down_input();
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delay.delay_ms(2u8);
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let pounder = if pounder_pgood.is_high().unwrap() {
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log::info!("Found Pounder");
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let ad9959 = {
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let qspi_interface = {
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// Instantiate the QUADSPI pins and peripheral interface.
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@ -935,6 +937,7 @@ pub fn setup(
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// info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
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// info!("Built on {}", build_info::BUILT_TIME_UTC);
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// info!("{} {}", build_info::RUSTC_VERSION, build_info::TARGET);
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log::info!("setup() complete");
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// Enable the instruction cache.
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core.SCB.enable_icache();
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@ -4,9 +4,6 @@ use stm32h7xx_hal as hal;
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// Re-export for the DigitalInputs below:
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pub use embedded_hal::digital::v2::InputPin;
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#[cfg(feature = "semihosting")]
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use panic_semihosting as _;
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mod adc;
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mod afe;
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mod configuration;
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@ -59,17 +56,37 @@ pub use configuration::{setup, PounderDevices, StabilizerDevices};
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#[inline(never)]
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#[panic_handler]
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#[cfg(all(not(feature = "semihosting")))]
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fn panic(_info: &core::panic::PanicInfo) -> ! {
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let gpiod = unsafe { &*hal::stm32::GPIOD::ptr() };
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// Turn on both red LEDs, FP_LED_1, FP_LED_3
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gpiod.odr.modify(|_, w| w.odr6().high().odr12().high());
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loop {
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// Halt
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core::sync::atomic::compiler_fence(
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core::sync::atomic::Ordering::SeqCst,
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);
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fn panic(info: &core::panic::PanicInfo) -> ! {
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use core::{
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fmt::Write,
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sync::atomic::{AtomicBool, Ordering},
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};
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use cortex_m::asm;
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use rtt_target::{ChannelMode, UpChannel};
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cortex_m::interrupt::disable();
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// Recursion protection
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static PANICKED: AtomicBool = AtomicBool::new(false);
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while PANICKED.load(Ordering::Relaxed) {
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asm::bkpt();
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}
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PANICKED.store(true, Ordering::Relaxed);
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// Turn on both red LEDs, FP_LED_1, FP_LED_3
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let gpiod = unsafe { &*hal::stm32::GPIOD::ptr() };
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gpiod.odr.modify(|_, w| w.odr6().high().odr12().high());
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// Analogous to panic-rtt-target
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if let Some(mut channel) = unsafe { UpChannel::conjure(0) } {
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channel.set_mode(ChannelMode::BlockIfFull);
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writeln!(channel, "{}", info).ok();
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}
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// Abort
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asm::udf();
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// Halt
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// loop { core::sync::atomic::compiler_fence(Ordering::SeqCst); }
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}
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|
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#[cortex_m_rt::exception]
|
||||
|
||||
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