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Merge #362

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362: rj/visibility cleanup r=jordens a=jordens

- dsp: reduce num dependency
- clean up item visibility


Co-authored-by: Robert Jördens <rj@quartiq.de>
This commit is contained in:
bors[bot] 2021-06-04 15:32:57 +00:00 committed by GitHub
commit 57524c7740
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12 changed files with 100 additions and 156 deletions
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38
Cargo.lock generated
View File

@ -214,7 +214,7 @@ dependencies = [
"easybench",
"miniconf",
"ndarray",
"num",
"num-complex",
"rand",
"serde",
]
@ -472,19 +472,6 @@ version = "0.5.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1bcece43b12349917e096cddfa66107277f123e6c96a5aea78711dc601a47152"
[[package]]
name = "num"
version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "43db66d1170d347f9a065114077f7dccb00c1b9478c89384490a3425279a4606"
dependencies = [
"num-complex",
"num-integer",
"num-iter",
"num-rational",
"num-traits",
]
[[package]]
name = "num-complex"
version = "0.4.0"
@ -492,6 +479,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "26873667bbbb7c5182d4a37c1add32cdf09f841af72da53318fdb81543c15085"
dependencies = [
"num-traits",
"serde",
]
[[package]]
@ -504,28 +492,6 @@ dependencies = [
"num-traits",
]
[[package]]
name = "num-iter"
version = "0.1.42"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b2021c8337a54d21aca0d59a92577a029af9431cb59b909b03252b9c164fad59"
dependencies = [
"autocfg",
"num-integer",
"num-traits",
]
[[package]]
name = "num-rational"
version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d41702bd167c2df5520b384281bc111a4b5efcf7fbc4c9c222c815b07e0a6a6a"
dependencies = [
"autocfg",
"num-integer",
"num-traits",
]
[[package]]
name = "num-traits"
version = "0.2.14"

2
dsp/Cargo.toml
View File

@ -6,7 +6,7 @@ edition = "2018"
[dependencies]
serde = { version = "1.0", features = ["derive"], default-features = false }
num = { version = "0.4.0", default-features = false }
num-complex = { version = "0.4.0", features = ["serde"], default-features = false }
miniconf = "0.1"
[dev-dependencies]

2
dsp/src/complex.rs
View File

@ -1,4 +1,4 @@
pub use num::Complex;
pub use num_complex::Complex;
use super::{atan2, cossin};

41
src/bin/dual-iir.rs
View File

@ -4,19 +4,27 @@
use core::sync::atomic::{fence, Ordering};
use stabilizer::{flatten_closures, hardware, net};
use miniconf::Miniconf;
use serde::Deserialize;
use dsp::iir;
use hardware::{
Adc0Input, Adc1Input, AdcCode, AfeGain, Dac0Output, Dac1Output, DacCode,
DigitalInput0, DigitalInput1, InputPin, SystemTimer, AFE0, AFE1,
use stabilizer::{
flatten_closures,
hardware::{
self,
adc::{Adc0Input, Adc1Input, AdcCode},
afe::Gain,
dac::{Dac0Output, Dac1Output, DacCode},
embedded_hal::digital::v2::InputPin,
hal,
system_timer::SystemTimer,
DigitalInput0, DigitalInput1, AFE0, AFE1,
},
net::{
miniconf::Miniconf,
serde::Deserialize,
telemetry::{Telemetry, TelemetryBuffer},
NetworkState, NetworkUsers,
},
};
use net::{NetworkState, NetworkUsers, Telemetry, TelemetryBuffer};
const SCALE: f32 = i16::MAX as _;
// The number of cascaded IIR biquads per channel. Select 1 or 2!
@ -24,7 +32,7 @@ const IIR_CASCADE_LENGTH: usize = 1;
#[derive(Clone, Copy, Debug, Deserialize, Miniconf)]
pub struct Settings {
afe: [AfeGain; 2],
afe: [Gain; 2],
iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
allow_hold: bool,
force_hold: bool,
@ -35,7 +43,7 @@ impl Default for Settings {
fn default() -> Self {
Self {
// Analog frontend programmable gain amplifier gains (G1, G2, G5, G10)
afe: [AfeGain::G1, AfeGain::G1],
afe: [Gain::G1, Gain::G1],
// IIR filter tap gains are an array `[b0, b1, b2, a1, a2]` such that the
// new output is computed as `y0 = a1*y1 + a2*y2 + b0*x0 + b1*x1 + b2*x2`.
// The array is `iir_state[channel-index][cascade-index][coeff-index]`.
@ -52,7 +60,7 @@ impl Default for Settings {
}
}
#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = stabilizer::hardware::SystemTimer)]
#[rtic::app(device = stabilizer::hardware::hal::stm32, peripherals = true, monotonic = stabilizer::hardware::system_timer::SystemTimer)]
const APP: () = {
struct Resources {
afes: (AFE0, AFE1),
@ -71,7 +79,8 @@ const APP: () = {
#[init(spawn=[telemetry, settings_update])]
fn init(c: init::Context) -> init::LateResources {
// Configure the microcontroller
let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
let (mut stabilizer, _pounder) =
hardware::setup::setup(c.core, c.device);
let network = NetworkUsers::new(
stabilizer.net.stack,
@ -100,7 +109,7 @@ const APP: () = {
dacs: stabilizer.dacs,
network,
digital_inputs: stabilizer.digital_inputs,
telemetry: net::TelemetryBuffer::default(),
telemetry: TelemetryBuffer::default(),
settings: Settings::default(),
}
}
@ -233,7 +242,7 @@ const APP: () = {
#[task(binds = ETH, priority = 1)]
fn eth(_: eth::Context) {
unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
unsafe { hal::ethernet::interrupt_handler() }
}
#[task(binds = SPI2, priority = 3)]

67
src/bin/lockin.rs
View File

@ -4,23 +4,29 @@
use core::sync::atomic::{fence, Ordering};
use embedded_hal::digital::v2::InputPin;
use serde::Deserialize;
use dsp::{Accu, Complex, ComplexExt, Lockin, RPLL};
use stabilizer::{flatten_closures, hardware, net};
use hardware::{
design_parameters, setup, Adc0Input, Adc1Input, AdcCode, AfeGain,
Dac0Output, Dac1Output, DacCode, DigitalInput0, DigitalInput1,
InputStamper, SystemTimer, AFE0, AFE1,
use stabilizer::{
flatten_closures,
hardware::{
self,
adc::{Adc0Input, Adc1Input, AdcCode},
afe::Gain,
dac::{Dac0Output, Dac1Output, DacCode},
design_parameters,
embedded_hal::digital::v2::InputPin,
hal,
input_stamper::InputStamper,
system_timer::SystemTimer,
DigitalInput0, DigitalInput1, AFE0, AFE1,
},
net::{
miniconf::Miniconf,
serde::Deserialize,
telemetry::{Telemetry, TelemetryBuffer},
NetworkState, NetworkUsers,
},
};
use miniconf::Miniconf;
use net::{NetworkState, NetworkUsers, Telemetry, TelemetryBuffer};
// A constant sinusoid to send on the DAC output.
// Full-scale gives a +/- 10.24V amplitude waveform. Scale it down to give +/- 1V.
const ONE: i16 = ((1.0 / 10.24) * i16::MAX as f32) as _;
@ -47,7 +53,7 @@ enum LockinMode {
#[derive(Copy, Clone, Debug, Deserialize, Miniconf)]
pub struct Settings {
afe: [AfeGain; 2],
afe: [Gain; 2],
lockin_mode: LockinMode,
pll_tc: [u8; 2],
@ -63,7 +69,7 @@ pub struct Settings {
impl Default for Settings {
fn default() -> Self {
Self {
afe: [AfeGain::G1; 2],
afe: [Gain::G1; 2],
lockin_mode: LockinMode::External,
@ -80,7 +86,7 @@ impl Default for Settings {
}
}
#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = stabilizer::hardware::SystemTimer)]
#[rtic::app(device = stabilizer::hardware::hal::stm32, peripherals = true, monotonic = stabilizer::hardware::system_timer::SystemTimer)]
const APP: () = {
struct Resources {
afes: (AFE0, AFE1),
@ -99,7 +105,8 @@ const APP: () = {
#[init(spawn=[settings_update, telemetry])]
fn init(c: init::Context) -> init::LateResources {
// Configure the microcontroller
let (mut stabilizer, _pounder) = setup(c.core, c.device);
let (mut stabilizer, _pounder) =
hardware::setup::setup(c.core, c.device);
let network = NetworkUsers::new(
stabilizer.net.stack,
@ -142,7 +149,7 @@ const APP: () = {
network,
digital_inputs: stabilizer.digital_inputs,
timestamper: stabilizer.timestamper,
telemetry: net::TelemetryBuffer::default(),
telemetry: TelemetryBuffer::default(),
settings,
@ -308,27 +315,7 @@ const APP: () = {
#[task(binds = ETH, priority = 1)]
fn eth(_: eth::Context) {
unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
}
#[task(binds = SPI2, priority = 3)]
fn spi2(_: spi2::Context) {
panic!("ADC0 SPI error");
}
#[task(binds = SPI3, priority = 3)]
fn spi3(_: spi3::Context) {
panic!("ADC1 SPI error");
}
#[task(binds = SPI4, priority = 3)]
fn spi4(_: spi4::Context) {
panic!("DAC0 SPI error");
}
#[task(binds = SPI5, priority = 3)]
fn spi5(_: spi5::Context) {
panic!("DAC1 SPI error");
unsafe { hal::ethernet::interrupt_handler() }
}
extern "C" {

0
src/hardware/digital_input_stamper.rs → src/hardware/input_stamper.rs
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33
src/hardware/mod.rs
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@ -1,28 +1,19 @@
pub use embedded_hal;
///! Module for all hardware-specific setup of Stabilizer
use stm32h7xx_hal as hal;
pub use stm32h7xx_hal as hal;
// Re-export for the DigitalInputs below:
pub use embedded_hal::digital::v2::InputPin;
mod adc;
mod afe;
mod configuration;
mod cycle_counter;
mod dac;
pub mod adc;
pub mod afe;
pub mod cycle_counter;
pub mod dac;
pub mod design_parameters;
mod digital_input_stamper;
mod eeprom;
pub mod input_stamper;
pub mod pounder;
mod system_timer;
mod timers;
pub mod setup;
pub mod system_timer;
pub use adc::{Adc0Input, Adc1Input, AdcCode};
pub use afe::Gain as AfeGain;
pub use cycle_counter::CycleCounter;
pub use dac::{Dac0Output, Dac1Output, DacCode};
pub use digital_input_stamper::InputStamper;
pub use pounder::DdsOutput;
pub use system_timer::SystemTimer;
mod eeprom;
mod timers;
// Type alias for the analog front-end (AFE) for ADC0.
pub type AFE0 = afe::ProgrammableGainAmplifier<
@ -52,8 +43,6 @@ pub type NetworkStack = smoltcp_nal::NetworkStack<
pub type EthernetPhy = hal::ethernet::phy::LAN8742A<hal::ethernet::EthernetMAC>;
pub use configuration::{setup, PounderDevices, StabilizerDevices};
#[inline(never)]
#[panic_handler]
fn panic(info: &core::panic::PanicInfo) -> ! {

19
src/hardware/pounder/mod.rs
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@ -1,22 +1,15 @@
use super::hal;
use embedded_hal::{adc::OneShot, blocking::spi::Transfer};
use serde::{Deserialize, Serialize};
pub mod attenuators;
mod dds_output;
pub mod dds_output;
pub mod hrtimer;
mod rf_power;
pub mod rf_power;
#[cfg(feature = "pounder_v1_1")]
pub mod timestamp;
pub use dds_output::DdsOutput;
use super::hal;
use attenuators::AttenuatorInterface;
use rf_power::PowerMeasurementInterface;
use embedded_hal::{adc::OneShot, blocking::spi::Transfer};
pub enum GpioPin {
Led4Green = 0,
Led5Red = 1,
@ -329,7 +322,7 @@ impl PounderDevices {
}
}
impl AttenuatorInterface for PounderDevices {
impl attenuators::AttenuatorInterface for PounderDevices {
/// Reset all of the attenuators to a power-on default state.
fn reset_attenuators(&mut self) -> Result<(), Error> {
self.mcp23017
@ -376,7 +369,7 @@ impl AttenuatorInterface for PounderDevices {
}
}
impl PowerMeasurementInterface for PounderDevices {
impl rf_power::PowerMeasurementInterface for PounderDevices {
/// Sample an ADC channel.
///
/// Args:

14
src/hardware/configuration.rs → src/hardware/setup.rs
View File

@ -15,9 +15,10 @@ use smoltcp_nal::smoltcp;
use embedded_hal::digital::v2::{InputPin, OutputPin};
use super::{
adc, afe, cycle_counter::CycleCounter, dac, design_parameters,
digital_input_stamper, eeprom, pounder, system_timer, timers, DdsOutput,
DigitalInput0, DigitalInput1, EthernetPhy, NetworkStack, AFE0, AFE1,
adc, afe, cycle_counter::CycleCounter, dac, design_parameters, eeprom,
input_stamper::InputStamper, pounder, pounder::dds_output::DdsOutput,
system_timer, timers, DigitalInput0, DigitalInput1, EthernetPhy,
NetworkStack, AFE0, AFE1,
};
pub struct NetStorage {
@ -84,7 +85,7 @@ pub struct StabilizerDevices {
pub afes: (AFE0, AFE1),
pub adcs: (adc::Adc0Input, adc::Adc1Input),
pub dacs: (dac::Dac0Output, dac::Dac1Output),
pub timestamper: digital_input_stamper::InputStamper,
pub timestamper: InputStamper,
pub adc_dac_timer: timers::SamplingTimer,
pub timestamp_timer: timers::TimestampTimer,
pub net: NetworkDevices,
@ -509,10 +510,7 @@ pub fn setup(
let input_stamper = {
let trigger = gpioa.pa3.into_alternate_af2();
digital_input_stamper::InputStamper::new(
trigger,
timestamp_timer_channels.ch4,
)
InputStamper::new(trigger, timestamp_timer_channels.ch4)
};
let digital_inputs = {

34
src/net/mod.rs
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@ -5,26 +5,28 @@
///! telemetry (via MQTT), configuration of run-time settings (via MQTT + Miniconf), and live data
///! streaming over raw UDP/TCP sockets. This module encompasses the main processing routines
///! related to Stabilizer networking operations.
pub use heapless;
pub use miniconf;
pub use serde;
pub mod messages;
pub mod miniconf_client;
pub mod network_processor;
pub mod shared;
pub mod telemetry;
use crate::hardware::{cycle_counter::CycleCounter, EthernetPhy, NetworkStack};
use messages::{MqttMessage, SettingsResponse};
use miniconf_client::MiniconfClient;
use network_processor::NetworkProcessor;
use shared::NetworkManager;
use telemetry::TelemetryClient;
use core::fmt::Write;
use heapless::String;
use miniconf::Miniconf;
use serde::Serialize;
use core::fmt::Write;
mod messages;
mod miniconf_client;
mod network_processor;
mod shared;
mod telemetry;
use crate::hardware::{CycleCounter, EthernetPhy, NetworkStack};
use messages::{MqttMessage, SettingsResponse};
pub use miniconf_client::MiniconfClient;
pub use network_processor::NetworkProcessor;
pub use shared::NetworkManager;
pub use telemetry::{Telemetry, TelemetryBuffer, TelemetryClient};
pub type NetworkReference = shared::NetworkStackProxy<'static, NetworkStack>;
#[derive(Copy, Clone, PartialEq)]

2
src/net/network_processor.rs
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@ -4,7 +4,7 @@
///! 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};
use crate::hardware::{cycle_counter::CycleCounter, EthernetPhy};
/// Processor for managing network hardware.
pub struct NetworkProcessor {

4
src/net/telemetry.rs
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@ -16,7 +16,7 @@ use serde::Serialize;
use super::NetworkReference;
use crate::hardware::{
design_parameters::MQTT_BROKER, AdcCode, AfeGain, DacCode,
adc::AdcCode, afe::Gain, dac::DacCode, design_parameters::MQTT_BROKER,
};
/// The telemetry client for reporting telemetry data over MQTT.
@ -73,7 +73,7 @@ impl TelemetryBuffer {
///
/// # Returns
/// The finalized telemetry structure that can be serialized and reported.
pub fn finalize(self, afe0: AfeGain, afe1: AfeGain) -> Telemetry {
pub fn finalize(self, afe0: Gain, afe1: Gain) -> Telemetry {
let in0_volts = Into::<f32>::into(self.adcs[0]) / afe0.as_multiplier();
let in1_volts = Into::<f32>::into(self.adcs[1]) / afe1.as_multiplier();