Updating after review
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@ -26,7 +26,9 @@ pub struct Settings {
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iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
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allow_hold: bool,
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force_hold: bool,
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telemetry_period_secs: u16,
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// The telemetry period in seconds.
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telemetry_period: u16,
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}
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impl Default for Settings {
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@ -44,7 +46,7 @@ impl Default for Settings {
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allow_hold: false,
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// Force suppress filter output updates.
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force_hold: false,
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telemetry_period_secs: 10,
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telemetry_period: 10,
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}
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}
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}
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@ -130,9 +132,13 @@ const APP: () = {
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c.resources.dacs.1.acquire_buffer(),
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];
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let digital_inputs = [
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c.resources.digital_inputs.0.is_high().unwrap(),
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c.resources.digital_inputs.1.is_high().unwrap(),
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];
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let hold = c.resources.settings.force_hold
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|| (c.resources.digital_inputs.1.is_high().unwrap()
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&& c.resources.settings.allow_hold);
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|| (digital_inputs[1] && c.resources.settings.allow_hold);
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for channel in 0..adc_samples.len() {
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for sample in 0..adc_samples[0].len() {
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@ -153,16 +159,12 @@ const APP: () = {
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}
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// Update telemetry measurements.
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c.resources.telemetry.latest_samples =
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c.resources.telemetry.adcs =
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[adc_samples[0][0] as i16, adc_samples[1][0] as i16];
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c.resources.telemetry.latest_outputs =
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[dac_samples[0][0], dac_samples[1][0]];
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c.resources.telemetry.dacs = [dac_samples[0][0], dac_samples[1][0]];
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c.resources.telemetry.digital_inputs = [
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c.resources.digital_inputs.0.is_high().unwrap(),
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c.resources.digital_inputs.1.is_high().unwrap(),
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];
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c.resources.telemetry.digital_inputs = digital_inputs;
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}
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#[idle(resources=[network], spawn=[settings_update])]
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@ -202,7 +204,7 @@ const APP: () = {
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let telemetry_period = c
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.resources
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.settings
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.lock(|settings| settings.telemetry_period_secs);
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.lock(|settings| settings.telemetry_period);
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// Schedule the telemetry task in the future.
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c.schedule
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@ -56,7 +56,9 @@ pub struct Settings {
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lockin_phase: i32,
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output_conf: [Conf; 2],
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telemetry_period_secs: u16,
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// The telemetry period in seconds.
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telemetry_period: u16,
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}
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impl Default for Settings {
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@ -73,7 +75,7 @@ impl Default for Settings {
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lockin_phase: 0, // Demodulation LO phase offset
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output_conf: [Conf::InPhase, Conf::Quadrature],
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telemetry_period_secs: 10,
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telemetry_period: 10,
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}
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}
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}
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@ -237,11 +239,10 @@ const APP: () = {
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}
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// Update telemetry measurements.
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c.resources.telemetry.latest_samples =
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c.resources.telemetry.adcs =
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[adc_samples[0][0] as i16, adc_samples[1][0] as i16];
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c.resources.telemetry.latest_outputs =
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[dac_samples[0][0], dac_samples[1][0]];
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c.resources.telemetry.dacs = [dac_samples[0][0], dac_samples[1][0]];
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}
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#[idle(resources=[network], spawn=[settings_update])]
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@ -285,7 +286,7 @@ const APP: () = {
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let telemetry_period = c
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.resources
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.settings
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.lock(|settings| settings.telemetry_period_secs);
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.lock(|settings| settings.telemetry_period);
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// Schedule the telemetry task in the future.
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c.schedule
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@ -69,12 +69,12 @@ impl rtic::Monotonic for SystemTimer {
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// is taken when reading and modifying register values.
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let regs = unsafe { &*hal::device::TIM15::ptr() };
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cortex_m::interrupt::free(|_cs| {
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loop {
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// Checking for overflows of the current counter must be performed atomically. Any
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// other task that is accessing the current time could potentially race for the
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// registers. Note that this is only required for writing to global state (e.g. timer
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// registers and overflow counter)
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if let Some(time) = cortex_m::interrupt::free(|_cs| {
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// Check for overflows and clear the overflow bit atomically. This must be done in
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// a critical section to prevent race conditions on the status register.
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if regs.sr.read().uif().bit_is_set() {
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@ -91,14 +91,12 @@ impl rtic::Monotonic for SystemTimer {
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if regs.sr.read().uif().bit_is_clear() {
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// Note(unsafe): We are in a critical section, so it is safe to read the
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// global variable.
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unsafe { Some((OVERFLOWS * 65535 + current_value) as i32) }
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} else {
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None
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}
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}) {
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return time;
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return unsafe {
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((OVERFLOWS << 16) + current_value) as i32
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};
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}
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}
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})
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}
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/// Reset the timer count.
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@ -33,9 +33,9 @@ pub struct TelemetryClient<T: Serialize> {
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#[derive(Copy, Clone)]
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pub struct TelemetryBuffer {
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/// The latest input sample on ADC0/ADC1.
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pub latest_samples: [i16; 2],
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pub adcs: [i16; 2],
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/// The latest output code on DAC0/DAC1.
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pub latest_outputs: [u16; 2],
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pub dacs: [u16; 2],
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/// The latest digital input states during processing.
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pub digital_inputs: [bool; 2],
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}
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@ -47,16 +47,16 @@ pub struct TelemetryBuffer {
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/// overhead.
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#[derive(Serialize)]
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pub struct Telemetry {
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input_levels: [f32; 2],
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output_levels: [f32; 2],
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adcs: [f32; 2],
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dacs: [f32; 2],
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digital_inputs: [bool; 2],
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}
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impl Default for TelemetryBuffer {
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fn default() -> Self {
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Self {
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latest_samples: [0, 0],
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latest_outputs: [0, 0],
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adcs: [0, 0],
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dacs: [0, 0],
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digital_inputs: [false, false],
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}
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}
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@ -79,30 +79,29 @@ impl TelemetryBuffer {
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// input signal has a fixed gain of 1/5 through a static input active filter. Finally, at
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// the very front-end of the signal, there's an analog input multiplier that is
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// configurable by the user.
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let adc_volts_per_lsb = 5.0 * 4.096 / 2.0 / i16::MAX as f32;
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let in0_volts =
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(self.latest_samples[0] as f32 / i16::MAX as f32) * 4.096 / 2.0
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* 5.0
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/ afe0.as_multiplier();
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(adc_volts_per_lsb * self.adcs[0] as f32) / afe0.as_multiplier();
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let in1_volts =
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(self.latest_samples[1] as f32 / i16::MAX as f32) * 4.096 / 2.0
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* 5.0
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/ afe1.as_multiplier();
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(adc_volts_per_lsb * self.adcs[1] as f32) / afe1.as_multiplier();
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// The output voltage is generated by the DAC with an output range of +/- 4.096 V. This
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// signal then passes through a 2.5x gain stage. Note that the DAC operates using unsigned
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// integers, and u16::MAX / 2 is considered zero voltage output. Thus, the dynamic range of
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// the output stage is +/- 10.24 V. At a DAC code of zero, there is an output of -10.24 V,
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// and at a max DAC code, there is an output of 10.24 V.
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let out0_volts = (10.24 * 2.0)
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* (self.latest_outputs[0] as f32 / (u16::MAX as f32))
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- 10.24;
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let out1_volts = (10.24 * 2.0)
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* (self.latest_outputs[1] as f32 / (u16::MAX as f32))
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- 10.24;
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//
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// Note: The MAX code corresponding to +VREF is not programmable, as it is 1 bit larger
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// than full-scale.
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let dac_volts_per_lsb = 10.24 * 2.0 / (u16::MAX as u32 + 1) as f32;
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let dac_offset = -10.24;
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let out0_volts = dac_volts_per_lsb * self.dacs[0] as f32 + dac_offset;
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let out1_volts = dac_volts_per_lsb * self.dacs[1] as f32 + dac_offset;
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Telemetry {
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input_levels: [in0_volts, in1_volts],
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output_levels: [out0_volts, out1_volts],
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adcs: [in0_volts, in1_volts],
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dacs: [out0_volts, out1_volts],
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digital_inputs: self.digital_inputs,
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}
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}
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