Merge #362

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

- dsp: reduce num dependency
- clean up item visibility


Co-authored-by: Robert Jördens <rj@quartiq.de>

Cargo.lock

@@ -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"

dsp/Cargo.toml

@@ -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]

dsp/src/complex.rs

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

src/bin/dual-iir.rs

@@ -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::{
+use stabilizer::{
-    Adc0Input, Adc1Input, AdcCode, AfeGain, Dac0Output, Dac1Output, DacCode,
+    flatten_closures,
-    DigitalInput0, DigitalInput1, InputPin, SystemTimer, AFE0, AFE1,
+    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)]

src/bin/lockin.rs

@@ -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::{
-use stabilizer::{flatten_closures, hardware, net};
+    flatten_closures,
-
+    hardware::{
-use hardware::{
+        self,
-    design_parameters, setup, Adc0Input, Adc1Input, AdcCode, AfeGain,
+        adc::{Adc0Input, Adc1Input, AdcCode},
-    Dac0Output, Dac1Output, DacCode, DigitalInput0, DigitalInput1,
+        afe::Gain,
-    InputStamper, SystemTimer, AFE0, AFE1,
+        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() }
+        unsafe { 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");
     }
 
     extern "C" {

src/hardware/mod.rs

@@ -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 mod adc;
-pub use embedded_hal::digital::v2::InputPin;
+pub mod afe;
-
+pub mod cycle_counter;
-mod adc;
+pub mod dac;
-mod afe;
-mod configuration;
-mod cycle_counter;
-mod dac;
 pub mod design_parameters;
-mod digital_input_stamper;
+pub mod input_stamper;
-mod eeprom;
 pub mod pounder;
-mod system_timer;
+pub mod setup;
-mod timers;
+pub mod system_timer;
 
-pub use adc::{Adc0Input, Adc1Input, AdcCode};
+mod eeprom;
-pub use afe::Gain as AfeGain;
+mod timers;
-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;
 
 // 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) -> ! {

src/hardware/pounder/mod.rs

@@ -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:

src/hardware/setup.rs

@@ -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,
+    adc, afe, cycle_counter::CycleCounter, dac, design_parameters, eeprom,
-    digital_input_stamper, eeprom, pounder, system_timer, timers, DdsOutput,
+    input_stamper::InputStamper, pounder, pounder::dds_output::DdsOutput,
-    DigitalInput0, DigitalInput1, EthernetPhy, NetworkStack, AFE0, AFE1,
+    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(
+        InputStamper::new(trigger, timestamp_timer_channels.ch4)
-            trigger,
-            timestamp_timer_channels.ch4,
-        )
     };
 
     let digital_inputs = {

src/net/mod.rs

@@ -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)]

src/net/network_processor.rs

@@ -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 {

src/net/telemetry.rs

@@ -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();