Merge branch 'feature/dma-updates' into feature/qspi-stream
commit
7e1a58f1f0
|
|
@ -10,21 +10,22 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "aligned"
|
||||
version = "0.3.2"
|
||||
version = "0.3.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "eb1ce8b3382016136ab1d31a1b5ce807144f8b7eb2d5f16b2108f0f07edceb94"
|
||||
checksum = "c19796bd8d477f1a9d4ac2465b464a8b1359474f06a96bb3cda650b4fca309bf"
|
||||
dependencies = [
|
||||
"as-slice",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "as-slice"
|
||||
version = "0.1.3"
|
||||
version = "0.1.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "37dfb65bc03b2bc85ee827004f14a6817e04160e3b1a28931986a666a9290e70"
|
||||
checksum = "bb4d1c23475b74e3672afa8c2be22040b8b7783ad9b461021144ed10a46bb0e6"
|
||||
dependencies = [
|
||||
"generic-array 0.12.3",
|
||||
"generic-array 0.13.2",
|
||||
"generic-array 0.14.4",
|
||||
"stable_deref_trait",
|
||||
]
|
||||
|
||||
|
|
@ -41,9 +42,9 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "autocfg"
|
||||
version = "1.0.0"
|
||||
version = "1.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f8aac770f1885fd7e387acedd76065302551364496e46b3dd00860b2f8359b9d"
|
||||
checksum = "cdb031dd78e28731d87d56cc8ffef4a8f36ca26c38fe2de700543e627f8a464a"
|
||||
|
||||
[[package]]
|
||||
name = "bare-metal"
|
||||
|
|
@ -55,10 +56,16 @@ dependencies = [
|
|||
]
|
||||
|
||||
[[package]]
|
||||
name = "bit_field"
|
||||
version = "0.10.0"
|
||||
name = "bare-metal"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a165d606cf084741d4ac3a28fb6e9b1eb0bd31f6cd999098cfddb0b2ab381dc0"
|
||||
checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
|
||||
|
||||
[[package]]
|
||||
name = "bit_field"
|
||||
version = "0.10.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "dcb6dd1c2376d2e096796e234a70e17e94cc2d5d54ff8ce42b28cef1d0d359a4"
|
||||
|
||||
[[package]]
|
||||
name = "bitfield"
|
||||
|
|
@ -101,12 +108,12 @@ checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
|
|||
|
||||
[[package]]
|
||||
name = "cortex-m"
|
||||
version = "0.6.3"
|
||||
version = "0.6.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2be99930c99669a74d986f7fd2162085498b322e6daae8ef63a97cc9ac1dc73c"
|
||||
checksum = "88cdafeafba636c00c467ded7f1587210725a1adfab0c24028a7844b87738263"
|
||||
dependencies = [
|
||||
"aligned",
|
||||
"bare-metal",
|
||||
"bare-metal 0.2.5",
|
||||
"bitfield",
|
||||
"volatile-register",
|
||||
]
|
||||
|
|
@ -178,13 +185,22 @@ dependencies = [
|
|||
"cortex-m",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-dma"
|
||||
version = "0.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "46c8c02e4347a0267ca60813c952017f4c5948c232474c6010a381a337f1bda4"
|
||||
dependencies = [
|
||||
"stable_deref_trait",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-hal"
|
||||
version = "0.2.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "fa998ce59ec9765d15216393af37a58961ddcefb14c753b4816ba2191d865fcb"
|
||||
dependencies = [
|
||||
"nb 0.1.2",
|
||||
"nb 0.1.3",
|
||||
"void",
|
||||
]
|
||||
|
||||
|
|
@ -226,6 +242,16 @@ dependencies = [
|
|||
"typenum",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "generic-array"
|
||||
version = "0.14.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "501466ecc8a30d1d3b7fc9229b122b2ce8ed6e9d9223f1138d4babb253e51817"
|
||||
dependencies = [
|
||||
"typenum",
|
||||
"version_check",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "hash32"
|
||||
version = "0.1.1"
|
||||
|
|
@ -236,10 +262,16 @@ dependencies = [
|
|||
]
|
||||
|
||||
[[package]]
|
||||
name = "heapless"
|
||||
version = "0.5.5"
|
||||
name = "hashbrown"
|
||||
version = "0.9.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "73a8a2391a3bc70b31f60e7a90daa5755a360559c0b6b9c5cfc0fee482362dc0"
|
||||
checksum = "d7afe4a420e3fe79967a00898cc1f4db7c8a49a9333a29f8a4bd76a253d5cd04"
|
||||
|
||||
[[package]]
|
||||
name = "heapless"
|
||||
version = "0.5.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "74911a68a1658cfcfb61bc0ccfbd536e3b6e906f8c2f7883ee50157e3e2184f1"
|
||||
dependencies = [
|
||||
"as-slice",
|
||||
"generic-array 0.13.2",
|
||||
|
|
@ -250,11 +282,12 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "indexmap"
|
||||
version = "1.4.0"
|
||||
version = "1.6.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c398b2b113b55809ceb9ee3e753fcbac793f1956663f3c36549c1346015c2afe"
|
||||
checksum = "55e2e4c765aa53a0424761bf9f41aa7a6ac1efa87238f59560640e27fca028f2"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
"hashbrown",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -282,9 +315,12 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "nb"
|
||||
version = "0.1.2"
|
||||
version = "0.1.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b1411551beb3c11dedfb0a90a0fa256b47d28b9ec2cdff34c25a2fa59e45dbdc"
|
||||
checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
|
||||
dependencies = [
|
||||
"nb 1.0.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "nb"
|
||||
|
|
@ -300,9 +336,9 @@ checksum = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"
|
|||
|
||||
[[package]]
|
||||
name = "panic-semihosting"
|
||||
version = "0.5.3"
|
||||
version = "0.5.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c03864ac862876c16a308f5286f4aa217f1a69ac45df87ad3cd2847f818a642c"
|
||||
checksum = "aed16eb761d0ee9161dd1319cb38c8007813b20f9720a5a682b283e7b8cdfe58"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"cortex-m-semihosting",
|
||||
|
|
@ -310,34 +346,40 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "paste"
|
||||
version = "0.1.17"
|
||||
version = "0.1.18"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "026c63fe245362be0322bfec5a9656d458d13f9cfb1785d1b38458b9968e8080"
|
||||
checksum = "45ca20c77d80be666aef2b45486da86238fabe33e38306bd3118fe4af33fa880"
|
||||
dependencies = [
|
||||
"paste-impl",
|
||||
"proc-macro-hack",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "paste-impl"
|
||||
version = "0.1.17"
|
||||
name = "paste"
|
||||
version = "1.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7b9281a268ec213237dcd2aa3c3d0f46681b04ced37c1616fd36567a9e6954b0"
|
||||
checksum = "ba7ae1a2180ed02ddfdb5ab70c70d596a26dd642e097bb6fe78b1bde8588ed97"
|
||||
|
||||
[[package]]
|
||||
name = "paste-impl"
|
||||
version = "0.1.18"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d95a7db200b97ef370c8e6de0088252f7e0dfff7d047a28528e47456c0fc98b6"
|
||||
dependencies = [
|
||||
"proc-macro-hack",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro-hack"
|
||||
version = "0.5.16"
|
||||
version = "0.5.19"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7e0456befd48169b9f13ef0f0ad46d492cf9d2dbb918bcf38e01eed4ce3ec5e4"
|
||||
checksum = "dbf0c48bc1d91375ae5c3cd81e3722dff1abcf81a30960240640d223f59fe0e5"
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro2"
|
||||
version = "1.0.18"
|
||||
version = "1.0.24"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "beae6331a816b1f65d04c45b078fd8e6c93e8071771f41b8163255bbd8d7c8fa"
|
||||
checksum = "1e0704ee1a7e00d7bb417d0770ea303c1bccbabf0ef1667dae92b5967f5f8a71"
|
||||
dependencies = [
|
||||
"unicode-xid",
|
||||
]
|
||||
|
|
@ -400,9 +442,9 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
|||
|
||||
[[package]]
|
||||
name = "serde"
|
||||
version = "1.0.115"
|
||||
version = "1.0.117"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e54c9a88f2da7238af84b5101443f0c0d0a3bbdc455e34a5c9497b1903ed55d5"
|
||||
checksum = "b88fa983de7720629c9387e9f517353ed404164b1e482c970a90c1a4aaf7dc1a"
|
||||
dependencies = [
|
||||
"serde_derive",
|
||||
]
|
||||
|
|
@ -419,9 +461,9 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "serde_derive"
|
||||
version = "1.0.115"
|
||||
version = "1.0.117"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "609feed1d0a73cc36a0182a840a9b37b4a82f0b1150369f0536a9e3f2a31dc48"
|
||||
checksum = "cbd1ae72adb44aab48f325a02444a5fc079349a8d804c1fc922aed3f7454c74e"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
|
|
@ -462,14 +504,14 @@ dependencies = [
|
|||
"serde-json-core",
|
||||
"smoltcp",
|
||||
"stm32h7-ethernet",
|
||||
"stm32h7xx-hal 0.5.0",
|
||||
"stm32h7xx-hal 0.8.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "stable_deref_trait"
|
||||
version = "1.1.1"
|
||||
version = "1.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "dba1a27d3efae4351c8051072d619e3ade2820635c3958d826bfea39d59b54c8"
|
||||
checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
|
||||
|
||||
[[package]]
|
||||
name = "stm32h7"
|
||||
|
|
@ -477,7 +519,18 @@ version = "0.11.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e9beb5e2a223c82f263c3051bba4614aebc6e98bd40217df3cd8817c83ac7bd8"
|
||||
dependencies = [
|
||||
"bare-metal",
|
||||
"bare-metal 0.2.5",
|
||||
"cortex-m",
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "stm32h7"
|
||||
version = "0.12.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7571f17d1ed7d67957d0004de6c52bd1ef5e736ed5ddc2bcecf001512269f77c"
|
||||
dependencies = [
|
||||
"bare-metal 0.2.5",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"vcell",
|
||||
|
|
@ -491,22 +544,7 @@ dependencies = [
|
|||
"cortex-m",
|
||||
"log",
|
||||
"smoltcp",
|
||||
"stm32h7xx-hal 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "stm32h7xx-hal"
|
||||
version = "0.5.0"
|
||||
dependencies = [
|
||||
"bare-metal",
|
||||
"cast",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"embedded-hal",
|
||||
"nb 0.1.2",
|
||||
"paste",
|
||||
"stm32h7",
|
||||
"void",
|
||||
"stm32h7xx-hal 0.5.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -515,22 +553,40 @@ version = "0.5.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "987c66628f30012ed9a41cc738421c5caece03292c0cc8fd1e99956f122735bd"
|
||||
dependencies = [
|
||||
"bare-metal",
|
||||
"bare-metal 0.2.5",
|
||||
"cast",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"embedded-hal",
|
||||
"nb 0.1.2",
|
||||
"paste",
|
||||
"stm32h7",
|
||||
"nb 0.1.3",
|
||||
"paste 0.1.18",
|
||||
"stm32h7 0.11.0",
|
||||
"void",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "stm32h7xx-hal"
|
||||
version = "0.8.0"
|
||||
source = "git+https://github.com/quartiq/stm32h7xx-hal?branch=feature/stabilizer-dma#5fbbfa9352f720994c210e5c21601f3acf9dc40c"
|
||||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"cast",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"embedded-dma",
|
||||
"embedded-hal",
|
||||
"nb 1.0.0",
|
||||
"paste 1.0.2",
|
||||
"smoltcp",
|
||||
"stm32h7 0.12.1",
|
||||
"void",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.33"
|
||||
version = "1.0.48"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e8d5d96e8cbb005d6959f119f773bfaebb5684296108fb32600c00cde305b2cd"
|
||||
checksum = "cc371affeffc477f42a221a1e4297aedcea33d47d19b61455588bd9d8f6b19ac"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
|
|
@ -545,9 +601,9 @@ checksum = "373c8a200f9e67a0c95e62a4f52fbf80c23b4381c05a17845531982fa99e6b33"
|
|||
|
||||
[[package]]
|
||||
name = "unicode-xid"
|
||||
version = "0.2.0"
|
||||
version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "826e7639553986605ec5979c7dd957c7895e93eabed50ab2ffa7f6128a75097c"
|
||||
checksum = "f7fe0bb3479651439c9112f72b6c505038574c9fbb575ed1bf3b797fa39dd564"
|
||||
|
||||
[[package]]
|
||||
name = "vcell"
|
||||
|
|
|
|||
|
|
@ -58,10 +58,9 @@ branch = "master"
|
|||
features = ["stm32h743v"]
|
||||
|
||||
[dependencies.stm32h7xx-hal]
|
||||
features = ["stm32h743v", "rt", "unproven"]
|
||||
# git = "https://github.com/quartiq/stm32h7xx-hal.git"
|
||||
# branch = "feature/pounder-support"
|
||||
path = "../stm32h7xx-hal"
|
||||
features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
|
||||
git = "https://github.com/quartiq/stm32h7xx-hal"
|
||||
branch = "feature/stabilizer-dma"
|
||||
|
||||
[features]
|
||||
semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
|
||||
|
|
@ -71,7 +70,7 @@ nightly = ["cortex-m/inline-asm"]
|
|||
[profile.dev]
|
||||
codegen-units = 1
|
||||
incremental = false
|
||||
opt-level = 3
|
||||
opt-level = 1
|
||||
|
||||
[profile.release]
|
||||
opt-level = 3
|
||||
|
|
|
|||
|
|
@ -26,3 +26,6 @@ set var $t0=*$cc
|
|||
continue
|
||||
end
|
||||
#set var $t0=*$cc
|
||||
|
||||
source ../../PyCortexMDebug/cmdebug/svd_gdb.py
|
||||
svd_load ~/Downloads/STM32H743x.svd
|
||||
|
|
|
|||
|
|
@ -0,0 +1,227 @@
|
|||
use super::{
|
||||
hal, DMAReq, DmaConfig, MemoryToPeripheral, PeripheralToMemory, Priority,
|
||||
Stream, TargetAddress, Transfer,
|
||||
};
|
||||
|
||||
const INPUT_BUFFER_SIZE: usize = 1;
|
||||
|
||||
#[link_section = ".axisram.buffers"]
|
||||
static mut SPI_START: [u16; 1] = [0x00];
|
||||
|
||||
#[link_section = ".axisram.buffers"]
|
||||
static mut ADC0_BUF0: [u16; INPUT_BUFFER_SIZE] = [0; INPUT_BUFFER_SIZE];
|
||||
|
||||
#[link_section = ".axisram.buffers"]
|
||||
static mut ADC0_BUF1: [u16; INPUT_BUFFER_SIZE] = [0; INPUT_BUFFER_SIZE];
|
||||
|
||||
#[link_section = ".axisram.buffers"]
|
||||
static mut ADC1_BUF0: [u16; INPUT_BUFFER_SIZE] = [0; INPUT_BUFFER_SIZE];
|
||||
|
||||
#[link_section = ".axisram.buffers"]
|
||||
static mut ADC1_BUF1: [u16; INPUT_BUFFER_SIZE] = [0; INPUT_BUFFER_SIZE];
|
||||
|
||||
struct SPI2 {}
|
||||
|
||||
impl SPI2 {
|
||||
pub fn new() -> Self {
|
||||
Self {}
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl TargetAddress<MemoryToPeripheral> for SPI2 {
|
||||
type MemSize = u16;
|
||||
|
||||
const REQUEST_LINE: Option<u8> = Some(DMAReq::TIM2_UP as u8);
|
||||
|
||||
fn address(&self) -> u32 {
|
||||
let regs = unsafe { &*hal::stm32::SPI2::ptr() };
|
||||
®s.txdr as *const _ as u32
|
||||
}
|
||||
}
|
||||
|
||||
struct SPI3 {}
|
||||
|
||||
impl SPI3 {
|
||||
pub fn new() -> Self {
|
||||
Self {}
|
||||
}
|
||||
}
|
||||
|
||||
unsafe impl TargetAddress<MemoryToPeripheral> for SPI3 {
|
||||
type MemSize = u16;
|
||||
|
||||
const REQUEST_LINE: Option<u8> = Some(DMAReq::TIM2_UP as u8);
|
||||
|
||||
fn address(&self) -> u32 {
|
||||
let regs = unsafe { &*hal::stm32::SPI3::ptr() };
|
||||
®s.txdr as *const _ as u32
|
||||
}
|
||||
}
|
||||
|
||||
pub struct AdcInputs {
|
||||
adc0: Adc0Input,
|
||||
adc1: Adc1Input,
|
||||
}
|
||||
|
||||
impl AdcInputs {
|
||||
pub fn new(adc0: Adc0Input, adc1: Adc1Input) -> Self {
|
||||
Self { adc0, adc1 }
|
||||
}
|
||||
|
||||
pub fn transfer_complete_handler(
|
||||
&mut self,
|
||||
) -> (&[u16; INPUT_BUFFER_SIZE], &[u16; INPUT_BUFFER_SIZE]) {
|
||||
let adc0_buffer = self.adc0.transfer_complete_handler();
|
||||
let adc1_buffer = self.adc1.transfer_complete_handler();
|
||||
(adc0_buffer, adc1_buffer)
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Adc0Input {
|
||||
next_buffer: Option<&'static mut [u16; INPUT_BUFFER_SIZE]>,
|
||||
transfer: Transfer<
|
||||
hal::dma::dma::Stream1<hal::stm32::DMA1>,
|
||||
hal::spi::Spi<hal::stm32::SPI2, hal::spi::Disabled, u16>,
|
||||
PeripheralToMemory,
|
||||
&'static mut [u16; INPUT_BUFFER_SIZE],
|
||||
>,
|
||||
}
|
||||
|
||||
impl Adc0Input {
|
||||
pub fn new(
|
||||
spi: hal::spi::Spi<hal::stm32::SPI2, hal::spi::Enabled, u16>,
|
||||
trigger_stream: hal::dma::dma::Stream0<hal::stm32::DMA1>,
|
||||
data_stream: hal::dma::dma::Stream1<hal::stm32::DMA1>,
|
||||
) -> Self {
|
||||
let trigger_config = DmaConfig::default()
|
||||
.memory_increment(false)
|
||||
.peripheral_increment(false)
|
||||
.priority(Priority::High)
|
||||
.circular_buffer(true);
|
||||
|
||||
let mut trigger_transfer: Transfer<_, _, MemoryToPeripheral, _> =
|
||||
Transfer::init(
|
||||
trigger_stream,
|
||||
&SPI2::new(),
|
||||
unsafe { &mut SPI_START },
|
||||
None,
|
||||
trigger_config,
|
||||
);
|
||||
|
||||
let data_config = DmaConfig::default()
|
||||
.memory_increment(true)
|
||||
.priority(Priority::VeryHigh)
|
||||
.peripheral_increment(false);
|
||||
|
||||
let mut spi = spi.disable();
|
||||
spi.listen(hal::spi::Event::Error);
|
||||
|
||||
let mut data_transfer: Transfer<_, _, PeripheralToMemory, _> =
|
||||
Transfer::init(
|
||||
data_stream,
|
||||
&spi,
|
||||
unsafe { &mut ADC0_BUF0 },
|
||||
None,
|
||||
data_config,
|
||||
);
|
||||
|
||||
spi.enable_dma_rx();
|
||||
spi.enable_dma_tx();
|
||||
|
||||
let spi = spi.enable();
|
||||
spi.inner().cr1.modify(|_, w| w.cstart().started());
|
||||
|
||||
data_transfer.start();
|
||||
trigger_transfer.start();
|
||||
|
||||
Self {
|
||||
next_buffer: unsafe { Some(&mut ADC0_BUF1) },
|
||||
transfer: data_transfer,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn transfer_complete_handler(&mut self) -> &[u16; INPUT_BUFFER_SIZE] {
|
||||
let next_buffer = self.next_buffer.take().unwrap();
|
||||
while hal::dma::dma::Stream1::<hal::stm32::DMA1>::is_enabled() {}
|
||||
self.transfer.clear_interrupts();
|
||||
let (prev_buffer, _) =
|
||||
self.transfer.next_transfer(next_buffer).unwrap();
|
||||
self.next_buffer.replace(prev_buffer);
|
||||
self.next_buffer.as_ref().unwrap()
|
||||
}
|
||||
}
|
||||
|
||||
pub struct Adc1Input {
|
||||
next_buffer: Option<&'static mut [u16; INPUT_BUFFER_SIZE]>,
|
||||
transfer: Transfer<
|
||||
hal::dma::dma::Stream3<hal::stm32::DMA1>,
|
||||
hal::spi::Spi<hal::stm32::SPI3, hal::spi::Disabled, u16>,
|
||||
PeripheralToMemory,
|
||||
&'static mut [u16; INPUT_BUFFER_SIZE],
|
||||
>,
|
||||
}
|
||||
|
||||
impl Adc1Input {
|
||||
pub fn new(
|
||||
spi: hal::spi::Spi<hal::stm32::SPI3, hal::spi::Enabled, u16>,
|
||||
trigger_stream: hal::dma::dma::Stream2<hal::stm32::DMA1>,
|
||||
data_stream: hal::dma::dma::Stream3<hal::stm32::DMA1>,
|
||||
) -> Self {
|
||||
let trigger_config = DmaConfig::default()
|
||||
.memory_increment(false)
|
||||
.peripheral_increment(false)
|
||||
.priority(Priority::High)
|
||||
.circular_buffer(true);
|
||||
|
||||
let mut trigger_transfer: Transfer<_, _, MemoryToPeripheral, _> =
|
||||
Transfer::init(
|
||||
trigger_stream,
|
||||
&SPI3::new(),
|
||||
unsafe { &mut SPI_START },
|
||||
None,
|
||||
trigger_config,
|
||||
);
|
||||
|
||||
let data_config = DmaConfig::default()
|
||||
.memory_increment(true)
|
||||
.transfer_complete_interrupt(true)
|
||||
.priority(Priority::VeryHigh)
|
||||
.peripheral_increment(false);
|
||||
|
||||
let mut spi = spi.disable();
|
||||
spi.listen(hal::spi::Event::Error);
|
||||
|
||||
let mut data_transfer: Transfer<_, _, PeripheralToMemory, _> =
|
||||
Transfer::init(
|
||||
data_stream,
|
||||
&spi,
|
||||
unsafe { &mut ADC1_BUF0 },
|
||||
None,
|
||||
data_config,
|
||||
);
|
||||
|
||||
spi.enable_dma_rx();
|
||||
spi.enable_dma_tx();
|
||||
|
||||
let spi = spi.enable();
|
||||
spi.inner().cr1.modify(|_, w| w.cstart().started());
|
||||
|
||||
data_transfer.start();
|
||||
trigger_transfer.start();
|
||||
|
||||
Self {
|
||||
next_buffer: unsafe { Some(&mut ADC1_BUF1) },
|
||||
transfer: data_transfer,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn transfer_complete_handler(&mut self) -> &[u16; INPUT_BUFFER_SIZE] {
|
||||
let next_buffer = self.next_buffer.take().unwrap();
|
||||
while hal::dma::dma::Stream3::<hal::stm32::DMA1>::is_enabled() {}
|
||||
self.transfer.clear_interrupts();
|
||||
let (prev_buffer, _) =
|
||||
self.transfer.next_transfer(next_buffer).unwrap();
|
||||
self.next_buffer.replace(prev_buffer);
|
||||
self.next_buffer.as_ref().unwrap()
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,62 @@
|
|||
use super::hal;
|
||||
use heapless::consts;
|
||||
|
||||
pub struct DacOutputs {
|
||||
dac0_spi: hal::spi::Spi<hal::stm32::SPI4, hal::spi::Enabled, u16>,
|
||||
dac1_spi: hal::spi::Spi<hal::stm32::SPI5, hal::spi::Enabled, u16>,
|
||||
outputs: heapless::spsc::Queue<(u16, u16), consts::U32>,
|
||||
timer: hal::timer::Timer<hal::stm32::TIM3>,
|
||||
}
|
||||
|
||||
impl DacOutputs {
|
||||
pub fn new(
|
||||
dac0_spi: hal::spi::Spi<hal::stm32::SPI4, hal::spi::Enabled, u16>,
|
||||
dac1_spi: hal::spi::Spi<hal::stm32::SPI5, hal::spi::Enabled, u16>,
|
||||
mut timer: hal::timer::Timer<hal::stm32::TIM3>,
|
||||
) -> Self {
|
||||
dac0_spi.inner().cr1.modify(|_, w| w.cstart().started());
|
||||
dac1_spi.inner().cr1.modify(|_, w| w.cstart().started());
|
||||
timer.pause();
|
||||
timer.reset_counter();
|
||||
timer.clear_irq();
|
||||
timer.listen(hal::timer::Event::TimeOut);
|
||||
|
||||
Self {
|
||||
dac0_spi,
|
||||
dac1_spi,
|
||||
outputs: heapless::spsc::Queue::new(),
|
||||
timer,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn push(&mut self, dac0_value: u16, dac1_value: u16) {
|
||||
self.outputs.enqueue((dac0_value, dac1_value)).unwrap();
|
||||
self.timer.resume();
|
||||
}
|
||||
|
||||
pub fn update(&mut self) {
|
||||
self.timer.clear_irq();
|
||||
match self.outputs.dequeue() {
|
||||
Some((dac0, dac1)) => self.write(dac0, dac1),
|
||||
None => {
|
||||
self.timer.pause();
|
||||
self.timer.reset_counter();
|
||||
self.timer.clear_irq();
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
pub fn write(&mut self, dac0_value: u16, dac1_value: u16) {
|
||||
unsafe {
|
||||
core::ptr::write_volatile(
|
||||
&self.dac0_spi.inner().txdr as *const _ as *mut u16,
|
||||
dac0_value,
|
||||
);
|
||||
|
||||
core::ptr::write_volatile(
|
||||
&self.dac1_spi.inner().txdr as *const _ as *mut u16,
|
||||
dac1_value,
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
10
src/iir.rs
10
src/iir.rs
|
|
@ -105,4 +105,14 @@ impl IIR {
|
|||
xy[xy.len() / 2] = y0;
|
||||
y0
|
||||
}
|
||||
|
||||
pub fn update_from_adc_sample(
|
||||
&mut self,
|
||||
sample: u16,
|
||||
state: &mut IIRState,
|
||||
) -> u16 {
|
||||
let x0 = f32::from(sample as i16);
|
||||
let y0 = self.update(state, x0);
|
||||
y0 as i16 as u16 ^ 0x8000
|
||||
}
|
||||
}
|
||||
|
|
|
|||
591
src/main.rs
591
src/main.rs
|
|
@ -1,4 +1,3 @@
|
|||
#![deny(warnings)]
|
||||
#![allow(clippy::missing_safety_doc)]
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
|
|
@ -35,21 +34,36 @@ use stm32h7xx_hal::prelude::*;
|
|||
|
||||
use embedded_hal::digital::v2::{InputPin, OutputPin};
|
||||
|
||||
use hal::{
|
||||
dma::{
|
||||
config::Priority,
|
||||
dma::{DMAReq, DmaConfig},
|
||||
traits::{Stream, TargetAddress},
|
||||
MemoryToPeripheral, PeripheralToMemory, Transfer,
|
||||
},
|
||||
ethernet::{self, PHY},
|
||||
};
|
||||
use smoltcp as net;
|
||||
use stm32h7_ethernet as ethernet;
|
||||
|
||||
use heapless::{consts::*, String};
|
||||
|
||||
const SAMPLE_FREQUENCY_KHZ: u32 = 500;
|
||||
|
||||
#[link_section = ".sram3.eth"]
|
||||
static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
|
||||
|
||||
mod adc;
|
||||
mod afe;
|
||||
mod dac;
|
||||
mod eeprom;
|
||||
mod hrtimer;
|
||||
mod iir;
|
||||
mod pounder;
|
||||
mod server;
|
||||
|
||||
use adc::{Adc0Input, Adc1Input, AdcInputs};
|
||||
use dac::DacOutputs;
|
||||
|
||||
#[cfg(not(feature = "semihosting"))]
|
||||
fn init_log() {}
|
||||
|
||||
|
|
@ -90,8 +104,6 @@ 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;
|
||||
|
|
@ -161,36 +173,25 @@ macro_rules! route_request {
|
|||
#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
|
||||
const APP: () = {
|
||||
struct Resources {
|
||||
adc0: hal::spi::Spi<hal::stm32::SPI2>,
|
||||
dac0: hal::spi::Spi<hal::stm32::SPI4>,
|
||||
afe0: AFE0,
|
||||
|
||||
adc1: hal::spi::Spi<hal::stm32::SPI3>,
|
||||
dac1: hal::spi::Spi<hal::stm32::SPI5>,
|
||||
afe1: AFE1,
|
||||
|
||||
adcs: AdcInputs,
|
||||
dacs: DacOutputs,
|
||||
|
||||
eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>,
|
||||
|
||||
timer: hal::timer::Timer<hal::stm32::TIM2>,
|
||||
|
||||
// Note: It appears that rustfmt generates a format that GDB cannot recognize, which
|
||||
// results in GDB breakpoints being set improperly. To debug, redefine the following
|
||||
// definition to:
|
||||
//
|
||||
// ```rust
|
||||
// net_interface: net::iface::EthernetInterface<
|
||||
// 'static,
|
||||
// 'static,
|
||||
// 'static,
|
||||
// ethernet::EthernetDMA<'static>>,
|
||||
// ```
|
||||
// results in GDB breakpoints being set improperly.
|
||||
#[rustfmt::skip]
|
||||
net_interface: net::iface::EthernetInterface<
|
||||
'static,
|
||||
'static,
|
||||
'static,
|
||||
ethernet::EthernetDMA<'static>,
|
||||
>,
|
||||
eth_mac: ethernet::EthernetMAC,
|
||||
ethernet::EthernetDMA<'static>>,
|
||||
eth_mac: ethernet::phy::LAN8742A<ethernet::EthernetMAC>,
|
||||
mac_addr: net::wire::EthernetAddress,
|
||||
|
||||
pounder: Option<pounder::PounderDevices>,
|
||||
|
|
@ -209,8 +210,19 @@ const APP: () = {
|
|||
let pwr = dp.PWR.constrain();
|
||||
let vos = pwr.freeze();
|
||||
|
||||
// Enable SRAM3 for the ethernet descriptor ring.
|
||||
dp.RCC.ahb2enr.modify(|_, w| w.sram3en().set_bit());
|
||||
|
||||
// Clear reset flags.
|
||||
dp.RCC.rsr.write(|w| w.rmvf().set_bit());
|
||||
|
||||
// Select the PLLs for SPI.
|
||||
dp.RCC
|
||||
.d2ccip1r
|
||||
.modify(|_, w| w.spi123sel().pll2_p().spi45sel().pll2_q());
|
||||
|
||||
let rcc = dp.RCC.constrain();
|
||||
let mut clocks = rcc
|
||||
let ccdr = rcc
|
||||
.use_hse(8.mhz())
|
||||
.sysclk(400.mhz())
|
||||
.hclk(200.mhz())
|
||||
|
|
@ -221,25 +233,15 @@ const APP: () = {
|
|||
|
||||
init_log();
|
||||
|
||||
// Enable SRAM3 for the ethernet descriptor ring.
|
||||
clocks.rb.ahb2enr.modify(|_, w| w.sram3en().set_bit());
|
||||
let mut delay = hal::delay::Delay::new(cp.SYST, ccdr.clocks);
|
||||
|
||||
clocks.rb.rsr.write(|w| w.rmvf().set_bit());
|
||||
|
||||
clocks
|
||||
.rb
|
||||
.d2ccip1r
|
||||
.modify(|_, w| w.spi123sel().pll2_p().spi45sel().pll2_q());
|
||||
|
||||
let mut delay = hal::delay::Delay::new(cp.SYST, clocks.clocks);
|
||||
|
||||
let gpioa = dp.GPIOA.split(&mut clocks);
|
||||
let gpiob = dp.GPIOB.split(&mut clocks);
|
||||
let gpioc = dp.GPIOC.split(&mut clocks);
|
||||
let gpiod = dp.GPIOD.split(&mut clocks);
|
||||
let gpioe = dp.GPIOE.split(&mut clocks);
|
||||
let gpiof = dp.GPIOF.split(&mut clocks);
|
||||
let gpiog = dp.GPIOG.split(&mut clocks);
|
||||
let gpioa = dp.GPIOA.split(ccdr.peripheral.GPIOA);
|
||||
let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
|
||||
let gpioc = dp.GPIOC.split(ccdr.peripheral.GPIOC);
|
||||
let gpiod = dp.GPIOD.split(ccdr.peripheral.GPIOD);
|
||||
let gpioe = dp.GPIOE.split(ccdr.peripheral.GPIOE);
|
||||
let gpiof = dp.GPIOF.split(ccdr.peripheral.GPIOF);
|
||||
let gpiog = dp.GPIOG.split(ccdr.peripheral.GPIOG);
|
||||
|
||||
let afe0 = {
|
||||
let a0_pin = gpiof.pf2.into_push_pull_output();
|
||||
|
|
@ -253,147 +255,159 @@ const APP: () = {
|
|||
afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
|
||||
};
|
||||
|
||||
let dma_streams =
|
||||
hal::dma::dma::StreamsTuple::new(dp.DMA1, ccdr.peripheral.DMA1);
|
||||
|
||||
// Configure the SPI interfaces to the ADCs and DACs.
|
||||
let adc0_spi = {
|
||||
let spi_miso = gpiob
|
||||
.pb14
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpiob
|
||||
.pb10
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpiob
|
||||
.pb9
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let adcs = {
|
||||
let adc0 = {
|
||||
let spi_miso = gpiob
|
||||
.pb14
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpiob
|
||||
.pb10
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpiob
|
||||
.pb9
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
|
||||
let config = hal::spi::Config::new(hal::spi::Mode {
|
||||
polarity: hal::spi::Polarity::IdleHigh,
|
||||
phase: hal::spi::Phase::CaptureOnSecondTransition,
|
||||
})
|
||||
.communication_mode(hal::spi::CommunicationMode::Receiver)
|
||||
.manage_cs()
|
||||
.transfer_size(1)
|
||||
.frame_size(16)
|
||||
.cs_delay(220e-9);
|
||||
let config = hal::spi::Config::new(hal::spi::Mode {
|
||||
polarity: hal::spi::Polarity::IdleHigh,
|
||||
phase: hal::spi::Phase::CaptureOnSecondTransition,
|
||||
})
|
||||
.manage_cs()
|
||||
.suspend_when_inactive()
|
||||
.cs_delay(220e-9);
|
||||
|
||||
let mut spi = dp.SPI2.spi(
|
||||
(spi_sck, spi_miso, hal::spi::NoMosi),
|
||||
config,
|
||||
50.mhz(),
|
||||
&clocks,
|
||||
let spi: hal::spi::Spi<_, _, u16> = dp.SPI2.spi(
|
||||
(spi_sck, spi_miso, hal::spi::NoMosi),
|
||||
config,
|
||||
50.mhz(),
|
||||
ccdr.peripheral.SPI2,
|
||||
&ccdr.clocks,
|
||||
);
|
||||
|
||||
Adc0Input::new(spi, dma_streams.0, dma_streams.1)
|
||||
};
|
||||
|
||||
let adc1 = {
|
||||
let spi_miso = gpiob
|
||||
.pb4
|
||||
.into_alternate_af6()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpioc
|
||||
.pc10
|
||||
.into_alternate_af6()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpioa
|
||||
.pa15
|
||||
.into_alternate_af6()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
|
||||
let config = hal::spi::Config::new(hal::spi::Mode {
|
||||
polarity: hal::spi::Polarity::IdleHigh,
|
||||
phase: hal::spi::Phase::CaptureOnSecondTransition,
|
||||
})
|
||||
.manage_cs()
|
||||
.suspend_when_inactive()
|
||||
.cs_delay(220e-9);
|
||||
|
||||
let spi: hal::spi::Spi<_, _, u16> = dp.SPI3.spi(
|
||||
(spi_sck, spi_miso, hal::spi::NoMosi),
|
||||
config,
|
||||
50.mhz(),
|
||||
ccdr.peripheral.SPI3,
|
||||
&ccdr.clocks,
|
||||
);
|
||||
|
||||
Adc1Input::new(spi, dma_streams.2, dma_streams.3)
|
||||
};
|
||||
|
||||
AdcInputs::new(adc0, adc1)
|
||||
};
|
||||
|
||||
let dacs = {
|
||||
let _dac_clr_n =
|
||||
gpioe.pe12.into_push_pull_output().set_high().unwrap();
|
||||
let _dac0_ldac_n =
|
||||
gpioe.pe11.into_push_pull_output().set_low().unwrap();
|
||||
let _dac1_ldac_n =
|
||||
gpioe.pe15.into_push_pull_output().set_low().unwrap();
|
||||
|
||||
let dac0_spi = {
|
||||
let spi_miso = gpioe
|
||||
.pe5
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpioe
|
||||
.pe2
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpioe
|
||||
.pe4
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
|
||||
let config = hal::spi::Config::new(hal::spi::Mode {
|
||||
polarity: hal::spi::Polarity::IdleHigh,
|
||||
phase: hal::spi::Phase::CaptureOnSecondTransition,
|
||||
})
|
||||
.manage_cs()
|
||||
.suspend_when_inactive()
|
||||
.communication_mode(hal::spi::CommunicationMode::Transmitter)
|
||||
.swap_mosi_miso();
|
||||
|
||||
dp.SPI4.spi(
|
||||
(spi_sck, spi_miso, hal::spi::NoMosi),
|
||||
config,
|
||||
50.mhz(),
|
||||
ccdr.peripheral.SPI4,
|
||||
&ccdr.clocks,
|
||||
)
|
||||
};
|
||||
|
||||
let dac1_spi = {
|
||||
let spi_miso = gpiof
|
||||
.pf8
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpiof
|
||||
.pf7
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpiof
|
||||
.pf6
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
|
||||
let config = hal::spi::Config::new(hal::spi::Mode {
|
||||
polarity: hal::spi::Polarity::IdleHigh,
|
||||
phase: hal::spi::Phase::CaptureOnSecondTransition,
|
||||
})
|
||||
.manage_cs()
|
||||
.communication_mode(hal::spi::CommunicationMode::Transmitter)
|
||||
.suspend_when_inactive()
|
||||
.swap_mosi_miso();
|
||||
|
||||
dp.SPI5.spi(
|
||||
(spi_sck, spi_miso, hal::spi::NoMosi),
|
||||
config,
|
||||
50.mhz(),
|
||||
ccdr.peripheral.SPI5,
|
||||
&ccdr.clocks,
|
||||
)
|
||||
};
|
||||
|
||||
let timer = dp.TIM3.timer(
|
||||
SAMPLE_FREQUENCY_KHZ.khz(),
|
||||
ccdr.peripheral.TIM3,
|
||||
&ccdr.clocks,
|
||||
);
|
||||
|
||||
spi.listen(hal::spi::Event::Eot);
|
||||
|
||||
spi
|
||||
};
|
||||
|
||||
let adc1_spi = {
|
||||
let spi_miso = gpiob
|
||||
.pb4
|
||||
.into_alternate_af6()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpioc
|
||||
.pc10
|
||||
.into_alternate_af6()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpioa
|
||||
.pa15
|
||||
.into_alternate_af6()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
|
||||
let config = hal::spi::Config::new(hal::spi::Mode {
|
||||
polarity: hal::spi::Polarity::IdleHigh,
|
||||
phase: hal::spi::Phase::CaptureOnSecondTransition,
|
||||
})
|
||||
.communication_mode(hal::spi::CommunicationMode::Receiver)
|
||||
.manage_cs()
|
||||
.transfer_size(1)
|
||||
.frame_size(16)
|
||||
.cs_delay(220e-9);
|
||||
|
||||
let mut spi = dp.SPI3.spi(
|
||||
(spi_sck, spi_miso, hal::spi::NoMosi),
|
||||
config,
|
||||
50.mhz(),
|
||||
&clocks,
|
||||
);
|
||||
|
||||
spi.listen(hal::spi::Event::Eot);
|
||||
|
||||
spi
|
||||
};
|
||||
|
||||
let _dac_clr_n = gpioe.pe12.into_push_pull_output().set_high().unwrap();
|
||||
let _dac0_ldac_n =
|
||||
gpioe.pe11.into_push_pull_output().set_low().unwrap();
|
||||
let _dac1_ldac_n =
|
||||
gpioe.pe15.into_push_pull_output().set_low().unwrap();
|
||||
|
||||
let dac0_spi = {
|
||||
let spi_miso = gpioe
|
||||
.pe5
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpioe
|
||||
.pe2
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpioe
|
||||
.pe4
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
|
||||
let config = hal::spi::Config::new(hal::spi::Mode {
|
||||
polarity: hal::spi::Polarity::IdleHigh,
|
||||
phase: hal::spi::Phase::CaptureOnSecondTransition,
|
||||
})
|
||||
.communication_mode(hal::spi::CommunicationMode::Transmitter)
|
||||
.manage_cs()
|
||||
.transfer_size(1)
|
||||
.frame_size(16)
|
||||
.swap_mosi_miso();
|
||||
|
||||
dp.SPI4.spi(
|
||||
(spi_sck, spi_miso, hal::spi::NoMosi),
|
||||
config,
|
||||
50.mhz(),
|
||||
&clocks,
|
||||
)
|
||||
};
|
||||
|
||||
let dac1_spi = {
|
||||
let spi_miso = gpiof
|
||||
.pf8
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let spi_sck = gpiof
|
||||
.pf7
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _spi_nss = gpiof
|
||||
.pf6
|
||||
.into_alternate_af5()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
|
||||
let config = hal::spi::Config::new(hal::spi::Mode {
|
||||
polarity: hal::spi::Polarity::IdleHigh,
|
||||
phase: hal::spi::Phase::CaptureOnSecondTransition,
|
||||
})
|
||||
.communication_mode(hal::spi::CommunicationMode::Transmitter)
|
||||
.manage_cs()
|
||||
.transfer_size(1)
|
||||
.frame_size(16)
|
||||
.swap_mosi_miso();
|
||||
|
||||
dp.SPI5.spi(
|
||||
(spi_sck, spi_miso, hal::spi::NoMosi),
|
||||
config,
|
||||
50.mhz(),
|
||||
&clocks,
|
||||
)
|
||||
DacOutputs::new(dac0_spi, dac1_spi, timer)
|
||||
};
|
||||
|
||||
let mut fp_led_0 = gpiod.pd5.into_push_pull_output();
|
||||
|
|
@ -413,36 +427,44 @@ const APP: () = {
|
|||
let ad9959 = {
|
||||
let qspi_interface = {
|
||||
// Instantiate the QUADSPI pins and peripheral interface.
|
||||
// TODO: Place these into a pins structure that is provided to the QSPI
|
||||
// constructor.
|
||||
let _qspi_clk = gpiob
|
||||
.pb2
|
||||
.into_alternate_af9()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _qspi_ncs = gpioc
|
||||
.pc11
|
||||
.into_alternate_af9()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _qspi_io0 = gpioe
|
||||
.pe7
|
||||
.into_alternate_af10()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _qspi_io1 = gpioe
|
||||
.pe8
|
||||
.into_alternate_af10()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _qspi_io2 = gpioe
|
||||
.pe9
|
||||
.into_alternate_af10()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let _qspi_io3 = gpioe
|
||||
.pe10
|
||||
.into_alternate_af10()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let qspi_pins = {
|
||||
let _qspi_ncs = gpioc
|
||||
.pc11
|
||||
.into_alternate_af9()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
|
||||
let clk = gpiob
|
||||
.pb2
|
||||
.into_alternate_af9()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let io0 = gpioe
|
||||
.pe7
|
||||
.into_alternate_af10()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let io1 = gpioe
|
||||
.pe8
|
||||
.into_alternate_af10()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let io2 = gpioe
|
||||
.pe9
|
||||
.into_alternate_af10()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
let io3 = gpioe
|
||||
.pe10
|
||||
.into_alternate_af10()
|
||||
.set_speed(hal::gpio::Speed::VeryHigh);
|
||||
|
||||
(clk, io0, io1, io2, io3)
|
||||
};
|
||||
|
||||
let qspi = hal::qspi::Qspi::bank2(
|
||||
dp.QUADSPI,
|
||||
qspi_pins,
|
||||
50.mhz(),
|
||||
&ccdr.clocks,
|
||||
ccdr.peripheral.QSPI,
|
||||
);
|
||||
|
||||
let qspi =
|
||||
hal::qspi::Qspi::new(dp.QUADSPI, &mut clocks, 50.mhz())
|
||||
.unwrap();
|
||||
pounder::QspiInterface::new(qspi).unwrap()
|
||||
};
|
||||
|
||||
|
|
@ -462,7 +484,12 @@ const APP: () = {
|
|||
let io_expander = {
|
||||
let sda = gpiob.pb7.into_alternate_af4().set_open_drain();
|
||||
let scl = gpiob.pb8.into_alternate_af4().set_open_drain();
|
||||
let i2c1 = dp.I2C1.i2c((scl, sda), 100.khz(), &clocks);
|
||||
let i2c1 = dp.I2C1.i2c(
|
||||
(scl, sda),
|
||||
100.khz(),
|
||||
ccdr.peripheral.I2C1,
|
||||
&ccdr.clocks,
|
||||
);
|
||||
mcp23017::MCP23017::default(i2c1).unwrap()
|
||||
};
|
||||
|
||||
|
|
@ -483,8 +510,7 @@ const APP: () = {
|
|||
let config = hal::spi::Config::new(hal::spi::Mode {
|
||||
polarity: hal::spi::Polarity::IdleHigh,
|
||||
phase: hal::spi::Phase::CaptureOnSecondTransition,
|
||||
})
|
||||
.frame_size(8);
|
||||
});
|
||||
|
||||
// The maximum frequency of this SPI must be limited due to capacitance on the MISO
|
||||
// line causing a long RC decay.
|
||||
|
|
@ -492,22 +518,31 @@ const APP: () = {
|
|||
(spi_sck, spi_miso, spi_mosi),
|
||||
config,
|
||||
5.mhz(),
|
||||
&clocks,
|
||||
ccdr.peripheral.SPI1,
|
||||
&ccdr.clocks,
|
||||
)
|
||||
};
|
||||
|
||||
let adc1 = {
|
||||
let mut adc = dp.ADC1.adc(&mut delay, &mut clocks);
|
||||
adc.calibrate();
|
||||
let (adc1, adc2) = {
|
||||
let (mut adc1, mut adc2) = hal::adc::adc12(
|
||||
dp.ADC1,
|
||||
dp.ADC2,
|
||||
&mut delay,
|
||||
ccdr.peripheral.ADC12,
|
||||
&ccdr.clocks,
|
||||
);
|
||||
|
||||
adc.enable()
|
||||
};
|
||||
let adc1 = {
|
||||
adc1.calibrate();
|
||||
adc1.enable()
|
||||
};
|
||||
|
||||
let adc2 = {
|
||||
let mut adc = dp.ADC2.adc(&mut delay, &mut clocks);
|
||||
adc.calibrate();
|
||||
let adc2 = {
|
||||
adc2.calibrate();
|
||||
adc2.enable()
|
||||
};
|
||||
|
||||
adc.enable()
|
||||
(adc1, adc2)
|
||||
};
|
||||
|
||||
let adc1_in_p = gpiof.pf11.into_analog();
|
||||
|
|
@ -561,7 +596,12 @@ const APP: () = {
|
|||
let mut eeprom_i2c = {
|
||||
let sda = gpiof.pf0.into_alternate_af4().set_open_drain();
|
||||
let scl = gpiof.pf1.into_alternate_af4().set_open_drain();
|
||||
dp.I2C2.i2c((scl, sda), 100.khz(), &clocks)
|
||||
dp.I2C2.i2c(
|
||||
(scl, sda),
|
||||
100.khz(),
|
||||
ccdr.peripheral.I2C2,
|
||||
&ccdr.clocks,
|
||||
)
|
||||
};
|
||||
|
||||
// Configure ethernet pins.
|
||||
|
|
@ -620,15 +660,23 @@ const APP: () = {
|
|||
let (network_interface, eth_mac) = {
|
||||
// Configure the ethernet controller
|
||||
let (eth_dma, eth_mac) = unsafe {
|
||||
ethernet::ethernet_init(
|
||||
ethernet::new_unchecked(
|
||||
dp.ETHERNET_MAC,
|
||||
dp.ETHERNET_MTL,
|
||||
dp.ETHERNET_DMA,
|
||||
&mut DES_RING,
|
||||
mac_addr.clone(),
|
||||
ccdr.peripheral.ETH1MAC,
|
||||
&ccdr.clocks,
|
||||
)
|
||||
};
|
||||
|
||||
// Reset and initialize the ethernet phy.
|
||||
let mut lan8742a =
|
||||
ethernet::phy::LAN8742A::new(eth_mac.set_phy_addr(0));
|
||||
lan8742a.phy_reset();
|
||||
lan8742a.phy_init();
|
||||
|
||||
unsafe { ethernet::enable_interrupt() };
|
||||
|
||||
let store = unsafe { &mut NET_STORE };
|
||||
|
|
@ -647,7 +695,7 @@ const APP: () = {
|
|||
.ip_addrs(&mut store.ip_addrs[..])
|
||||
.finalize();
|
||||
|
||||
(interface, eth_mac)
|
||||
(interface, lan8742a)
|
||||
};
|
||||
|
||||
cp.SCB.enable_icache();
|
||||
|
|
@ -660,37 +708,23 @@ const APP: () = {
|
|||
// Utilize the cycle counter for RTIC scheduling.
|
||||
cp.DWT.enable_cycle_counter();
|
||||
|
||||
let mut dma = hal::dma::Dma::dma(dp.DMA1, dp.DMAMUX1, &clocks);
|
||||
dma.configure_m2p_stream(
|
||||
hal::dma::Stream::One,
|
||||
&SPI_START_CODE as *const _ as u32,
|
||||
&adc0_spi.spi.cr1 as *const _ as u32,
|
||||
hal::dma::DMAREQ_ID::TIM2_CH1,
|
||||
);
|
||||
|
||||
dma.configure_m2p_stream(
|
||||
hal::dma::Stream::Two,
|
||||
&SPI_START_CODE as *const _ as u32,
|
||||
&adc1_spi.spi.cr1 as *const _ as u32,
|
||||
hal::dma::DMAREQ_ID::TIM2_CH2,
|
||||
);
|
||||
|
||||
// Configure timer 2 to trigger conversions for the ADC
|
||||
let mut timer2 = dp.TIM2.timer(50.khz(), &mut clocks);
|
||||
timer2.configure_channel(hal::timer::Channel::One, 0.25);
|
||||
timer2.configure_channel(hal::timer::Channel::Two, 0.75);
|
||||
|
||||
timer2.listen(hal::timer::Event::ChannelOneDma);
|
||||
timer2.listen(hal::timer::Event::ChannelTwoDma);
|
||||
let timer2 = dp.TIM2.timer(
|
||||
SAMPLE_FREQUENCY_KHZ.khz(),
|
||||
ccdr.peripheral.TIM2,
|
||||
&ccdr.clocks,
|
||||
);
|
||||
{
|
||||
let t2_regs = unsafe { &*hal::stm32::TIM2::ptr() };
|
||||
t2_regs.dier.modify(|_, w| w.ude().set_bit());
|
||||
}
|
||||
|
||||
init::LateResources {
|
||||
afe0: afe0,
|
||||
adc0: adc0_spi,
|
||||
dac0: dac0_spi,
|
||||
|
||||
afe1: afe1,
|
||||
adc1: adc1_spi,
|
||||
dac1: dac1_spi,
|
||||
|
||||
adcs,
|
||||
dacs,
|
||||
|
||||
timer: timer2,
|
||||
pounder: pounder_devices,
|
||||
|
|
@ -702,44 +736,27 @@ const APP: () = {
|
|||
}
|
||||
}
|
||||
|
||||
#[task(binds = SPI3, resources = [adc1, dac1, iir_state, iir_ch], priority = 2)]
|
||||
fn spi3(c: spi3::Context) {
|
||||
c.resources.adc1.spi.ifcr.write(|w| w.eotc().set_bit());
|
||||
|
||||
let output: u16 = {
|
||||
let a: u16 = c.resources.adc1.read().unwrap();
|
||||
let x0 = f32::from(a as i16);
|
||||
let y0 =
|
||||
c.resources.iir_ch[1].update(&mut c.resources.iir_state[1], x0);
|
||||
y0 as i16 as u16 ^ 0x8000
|
||||
};
|
||||
|
||||
c.resources
|
||||
.dac1
|
||||
.spi
|
||||
.ifcr
|
||||
.write(|w| w.eotc().set_bit().txtfc().set_bit());
|
||||
c.resources.dac1.send(output).unwrap();
|
||||
#[task(binds = TIM3, resources=[dacs], priority = 3)]
|
||||
fn dac_update(c: dac_update::Context) {
|
||||
c.resources.dacs.update();
|
||||
}
|
||||
|
||||
#[task(binds = SPI2, resources = [adc0, dac0, iir_state, iir_ch], priority = 2)]
|
||||
fn spi2(c: spi2::Context) {
|
||||
c.resources.adc0.spi.ifcr.write(|w| w.eotc().set_bit());
|
||||
#[task(binds=DMA1_STR3, resources=[adcs, dacs, iir_state, iir_ch], priority=2)]
|
||||
fn adc_update(mut c: adc_update::Context) {
|
||||
let (adc0_samples, adc1_samples) =
|
||||
c.resources.adcs.transfer_complete_handler();
|
||||
|
||||
let output: u16 = {
|
||||
let a: u16 = c.resources.adc0.read().unwrap();
|
||||
let x0 = f32::from(a as i16);
|
||||
let y0 =
|
||||
c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0);
|
||||
y0 as i16 as u16 ^ 0x8000
|
||||
};
|
||||
for (adc0, adc1) in adc0_samples.iter().zip(adc1_samples.iter()) {
|
||||
let result_adc0 = c.resources.iir_ch[0]
|
||||
.update_from_adc_sample(*adc0, &mut c.resources.iir_state[0]);
|
||||
|
||||
c.resources
|
||||
.dac0
|
||||
.spi
|
||||
.ifcr
|
||||
.write(|w| w.eotc().set_bit().txtfc().set_bit());
|
||||
c.resources.dac0.send(output).unwrap();
|
||||
let result_adc1 = c.resources.iir_ch[1]
|
||||
.update_from_adc_sample(*adc1, &mut c.resources.iir_state[1]);
|
||||
|
||||
c.resources
|
||||
.dacs
|
||||
.lock(|dacs| dacs.push(result_adc0, result_adc1));
|
||||
}
|
||||
}
|
||||
|
||||
#[idle(resources=[net_interface, pounder, mac_addr, eth_mac, iir_state, iir_ch, afe0, afe1])]
|
||||
|
|
@ -904,6 +921,16 @@ const APP: () = {
|
|||
unsafe { ethernet::interrupt_handler() }
|
||||
}
|
||||
|
||||
#[task(binds = SPI2, priority = 1)]
|
||||
fn spi2(_: spi2::Context) {
|
||||
panic!("ADC0 input overrun");
|
||||
}
|
||||
|
||||
#[task(binds = SPI3, priority = 1)]
|
||||
fn spi3(_: spi3::Context) {
|
||||
panic!("ADC0 input overrun");
|
||||
}
|
||||
|
||||
extern "C" {
|
||||
// hw interrupt handlers for RTIC to use for scheduling tasks
|
||||
// one per priority
|
||||
|
|
|
|||
|
|
@ -290,7 +290,7 @@ pub struct PounderDevices {
|
|||
pub ad9959: ad9959::Ad9959<QspiInterface>,
|
||||
pub io_update_trigger: HighResTimerE,
|
||||
mcp23017: mcp23017::MCP23017<hal::i2c::I2c<hal::stm32::I2C1>>,
|
||||
attenuator_spi: hal::spi::Spi<hal::stm32::SPI1>,
|
||||
attenuator_spi: hal::spi::Spi<hal::stm32::SPI1, hal::spi::Enabled, u8>,
|
||||
adc1: hal::adc::Adc<hal::stm32::ADC1, hal::adc::Enabled>,
|
||||
adc2: hal::adc::Adc<hal::stm32::ADC2, hal::adc::Enabled>,
|
||||
adc1_in_p: hal::gpio::gpiof::PF11<hal::gpio::Analog>,
|
||||
|
|
@ -312,7 +312,7 @@ impl PounderDevices {
|
|||
mcp23017: mcp23017::MCP23017<hal::i2c::I2c<hal::stm32::I2C1>>,
|
||||
ad9959: ad9959::Ad9959<QspiInterface>,
|
||||
io_update_trigger: HighResTimerE,
|
||||
attenuator_spi: hal::spi::Spi<hal::stm32::SPI1>,
|
||||
attenuator_spi: hal::spi::Spi<hal::stm32::SPI1, hal::spi::Enabled, u8>,
|
||||
adc1: hal::adc::Adc<hal::stm32::ADC1, hal::adc::Enabled>,
|
||||
adc2: hal::adc::Adc<hal::stm32::ADC2, hal::adc::Enabled>,
|
||||
adc1_in_p: hal::gpio::gpiof::PF11<hal::gpio::Analog>,
|
||||
|
|
|
|||
Loading…
Reference in New Issue