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Merge branch 'master' into feature/phy-reset

This commit is contained in:
Ryan Summers 2021-04-08 13:35:59 +02:00
parent 5e448f284b c1f256ea77
commit 885cc1fb27
10 changed files with 138 additions and 75 deletions
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4
.github/workflows/hitl.yml vendored
View File

@ -1,9 +1,9 @@
name: HITL name: HITL
on: on:
push:
branches: [ hitl ]
workflow_dispatch: workflow_dispatch:
pull_request:
branches: [ master ]
jobs: jobs:
hitl: hitl:

109
Cargo.lock generated
View File

@ -1,5 +1,7 @@
# This file is automatically @generated by Cargo. # This file is automatically @generated by Cargo.
# It is not intended for manual editing. # It is not intended for manual editing.
version = 3
[[package]] [[package]]
name = "ad9959" name = "ad9959"
version = "0.1.0" version = "0.1.0"
@ -36,7 +38,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b9a69a963b70ddacfcd382524f72a4576f359af9334b3bf48a79566590bb8bfa" checksum = "b9a69a963b70ddacfcd382524f72a4576f359af9334b3bf48a79566590bb8bfa"
dependencies = [ dependencies = [
"bitrate", "bitrate",
"cortex-m 0.7.1", "cortex-m 0.7.2",
"embedded-hal", "embedded-hal",
] ]
@ -87,9 +89,9 @@ checksum = "c147d86912d04bef727828fda769a76ca81629a46d8ba311a8d58a26aa91473d"
[[package]] [[package]]
name = "byteorder" name = "byteorder"
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[[package]] [[package]]
name = "cast" name = "cast"
@ -115,15 +117,15 @@ dependencies = [
"aligned", "aligned",
"bare-metal 0.2.5", "bare-metal 0.2.5",
"bitfield", "bitfield",
"cortex-m 0.7.1", "cortex-m 0.7.2",
"volatile-register", "volatile-register",
] ]
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@ -137,7 +139,7 @@ version = "0.7.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
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@ -195,13 +197,13 @@ version = "0.3.7"
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checksum = "6bffa6c1454368a6aa4811ae60964c38e6996d397ff8095a8b9211b1c1f749bc" checksum = "6bffa6c1454368a6aa4811ae60964c38e6996d397ff8095a8b9211b1c1f749bc"
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dependencies = [ dependencies = [
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@ -359,9 +361,9 @@ dependencies = [
[[package]] [[package]]
name = "indexmap" name = "indexmap"
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source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
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@ -369,9 +371,9 @@ dependencies = [
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name = "libm" name = "libm"
@ -390,15 +392,15 @@ dependencies = [
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source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0ca88d725a0a943b096803bd34e73a4437208b6077654cc4ecb2947a5f91618d" checksum = "c75de51135344a4f8ed3cfe2720dc27736f7711989703a0b43aadf3753c55577"
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dependencies = [ dependencies = [
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] ]
@ -406,7 +408,7 @@ dependencies = [
[[package]] [[package]]
name = "mcp23017" name = "mcp23017"
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source = "git+https://github.com/mrd0ll4r/mcp23017.git#61933f857abe5a837800493a5f58e91a3c9435ec" source = "git+https://github.com/mrd0ll4r/mcp23017.git?rev=61933f857a#61933f857abe5a837800493a5f58e91a3c9435ec"
dependencies = [ dependencies = [
"embedded-hal", "embedded-hal",
] ]
@ -414,7 +416,7 @@ dependencies = [
[[package]] [[package]]
name = "miniconf" name = "miniconf"
version = "0.1.0" version = "0.1.0"
source = "git+https://github.com/quartiq/miniconf.git?branch=develop#314fa5587d1aa28e1ad70106f19e30db646e9f28" source = "git+https://github.com/quartiq/miniconf.git?rev=314fa5587d#314fa5587d1aa28e1ad70106f19e30db646e9f28"
dependencies = [ dependencies = [
"derive_miniconf", "derive_miniconf",
"heapless 0.6.1", "heapless 0.6.1",
@ -426,7 +428,7 @@ dependencies = [
[[package]] [[package]]
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version = "0.2.0" version = "0.2.0"
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"embedded-nal", "embedded-nal",
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@ -471,9 +473,9 @@ checksum = "2178127478ae4ee9be7180bc9c3bffb6354dd7238400db567102f98c413a9f35"
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@ -484,9 +486,9 @@ dependencies = [
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dependencies = [ dependencies = [
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] ]
@ -514,9 +516,9 @@ dependencies = [
[[package]] [[package]]
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dependencies = [ dependencies = [
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@ -538,7 +540,7 @@ version = "0.5.6"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
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@ -556,9 +558,9 @@ checksum = "ac74c624d6b2d21f425f752262f42188365d7b8ff1aff74c82e45136510a4857"
[[package]] [[package]]
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dependencies = [ dependencies = [
"unicode-xid", "unicode-xid",
] ]
@ -667,9 +669,9 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
[[package]] [[package]]
name = "serde" name = "serde"
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source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [ dependencies = [
"serde_derive", "serde_derive",
] ]
@ -677,7 +679,7 @@ dependencies = [
[[package]] [[package]]
name = "serde-json-core" name = "serde-json-core"
version = "0.2.0" version = "0.2.0"
source = "git+https://github.com/rust-embedded-community/serde-json-core.git?branch=master#ee06ac91bc43b72450a92198a00d9e5c5b9946d2" source = "git+https://github.com/rust-embedded-community/serde-json-core.git?rev=ee06ac91bc#ee06ac91bc43b72450a92198a00d9e5c5b9946d2"
dependencies = [ dependencies = [
"heapless 0.5.6", "heapless 0.5.6",
"serde", "serde",
@ -685,9 +687,9 @@ dependencies = [
[[package]] [[package]]
name = "serde_derive" name = "serde_derive"
version = "1.0.124" version = "1.0.125"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1800f7693e94e186f5e25a28291ae1570da908aff7d97a095dec1e56ff99069b" checksum = "b093b7a2bb58203b5da3056c05b4ec1fed827dcfdb37347a8841695263b3d06d"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",
@ -696,8 +698,9 @@ dependencies = [
[[package]] [[package]]
name = "smoltcp" name = "smoltcp"
version = "0.7.0" version = "0.7.1"
source = "git+https://github.com/smoltcp-rs/smoltcp.git#1bff999a6f3f7adf623d837ea96cc807e1b3a470" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "97173c1ef35b0a09304cb3882eba594761243005847cbbf6124f966e8da6519a"
dependencies = [ dependencies = [
"bitflags", "bitflags",
"byteorder", "byteorder",
@ -748,24 +751,25 @@ checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
[[package]] [[package]]
name = "stm32h7" name = "stm32h7"
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source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7571f17d1ed7d67957d0004de6c52bd1ef5e736ed5ddc2bcecf001512269f77c" checksum = "8b672c837e0ee8158ecc7fce0f9a948dd0693a9c588338e728d14b73307a0b7d"
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"cortex-m 0.6.7", "cortex-m 0.7.2",
"cortex-m-rt", "cortex-m-rt",
"vcell", "vcell",
] ]
[[package]] [[package]]
name = "stm32h7xx-hal" name = "stm32h7xx-hal"
version = "0.8.0" version = "0.9.0"
source = "git+https://github.com/stm32-rs/stm32h7xx-hal?branch=master#08231e334a11236fe556668ac19cb1c214da2406" source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [ dependencies = [
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"cortex-m-rt", "cortex-m-rt",
"embedded-dma", "embedded-dma",
"embedded-hal", "embedded-hal",
@ -778,9 +782,9 @@ dependencies = [
[[package]] [[package]]
name = "syn" name = "syn"
version = "1.0.60" version = "1.0.68"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [ dependencies = [
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@ -789,9 +793,9 @@ dependencies = [
[[package]] [[package]]
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source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]] [[package]]
name = "unicode-xid" name = "unicode-xid"
@ -807,9 +811,9 @@ checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
[[package]] [[package]]
name = "version_check" name = "version_check"
version = "0.9.2" version = "0.9.3"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b5a972e5669d67ba988ce3dc826706fb0a8b01471c088cb0b6110b805cc36aed" checksum = "5fecdca9a5291cc2b8dcf7dc02453fee791a280f3743cb0905f8822ae463b3fe"
[[package]] [[package]]
name = "void" name = "void"
@ -831,3 +835,8 @@ name = "wasi"
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source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "fd6fbd9a79829dd1ad0cc20627bf1ed606756a7f77edff7b66b7064f9cb327c6" checksum = "fd6fbd9a79829dd1ad0cc20627bf1ed606756a7f77edff7b66b7064f9cb327c6"
[[patch.unused]]
name = "smoltcp"
version = "0.7.0"
source = "git+https://github.com/smoltcp-rs/smoltcp.git#09f941851ded868b759e7db067abd67f2fe136a6"

34
Cargo.toml
View File

@ -43,35 +43,35 @@ enum-iterator = "0.6.0"
paste = "1" paste = "1"
dsp = { path = "dsp" } dsp = { path = "dsp" }
ad9959 = { path = "ad9959" } ad9959 = { path = "ad9959" }
smoltcp-nal = "0.1.0"
miniconf = "0.1"
generic-array = "0.14" generic-array = "0.14"
miniconf = "0.1.0"
[dependencies.mcp23017]
git = "https://github.com/mrd0ll4r/mcp23017.git"
rev = "61933f857a"
[dependencies.stm32h7xx-hal]
features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
version = "0.9.0"
[patch.crates-io.miniconf] [patch.crates-io.miniconf]
git = "https://github.com/quartiq/miniconf.git" git = "https://github.com/quartiq/miniconf.git"
branch = "develop" rev = "314fa5587d"
[patch.crates-io.minimq] [dependencies.smoltcp-nal]
git = "https://github.com/quartiq/minimq.git"
[patch.crates-io.smoltcp-nal]
git = "https://github.com/quartiq/smoltcp-nal.git" git = "https://github.com/quartiq/smoltcp-nal.git"
branch = "feature/reset-support" branch = "feature/reset-support"
[patch.crates-io.serde-json-core] [patch.crates-io.minimq]
git = "https://github.com/rust-embedded-community/serde-json-core.git" git = "https://github.com/quartiq/minimq.git"
branch = "master" rev = "933687c2e4b"
[patch.crates-io.smoltcp] [patch.crates-io.smoltcp]
git = "https://github.com/smoltcp-rs/smoltcp.git" git = "https://github.com/smoltcp-rs/smoltcp.git"
[dependencies.mcp23017] [patch.crates-io.serde-json-core]
git = "https://github.com/mrd0ll4r/mcp23017.git" git = "https://github.com/rust-embedded-community/serde-json-core.git"
rev = "ee06ac91bc"
[dependencies.stm32h7xx-hal]
features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
git = "https://github.com/stm32-rs/stm32h7xx-hal"
branch = "master"
[features] [features]
semihosting = ["panic-semihosting", "cortex-m-log/semihosting"] semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]

1
README.md
View File

@ -1,4 +1,5 @@
[![QUARTIQ Matrix Chat](https://img.shields.io/matrix/quartiq:matrix.org)](https://matrix.to/#/#quartiq:matrix.org) [![QUARTIQ Matrix Chat](https://img.shields.io/matrix/quartiq:matrix.org)](https://matrix.to/#/#quartiq:matrix.org)
[![Continuous Integration](https://github.com/quartiq/stabilizer/actions/workflows/ci.yml/badge.svg)](https://github.com/quartiq/stabilizer/actions/workflows/ci.yml)
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# Stabilizer Firmware # Stabilizer Firmware

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cargosha256-dual-iir.nix
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@ -1 +1 @@
"138kpxzxs73zhmd4xi5kw3fddb05gac4mpngizm01831n1ycyhl0" "06qsl59bljr637xcrplbij7ma8l7waryi4lkbd4fxjac0gqpn55s"

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dsp/Cargo.toml
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@ -8,13 +8,13 @@ edition = "2018"
libm = "0.2.1" libm = "0.2.1"
serde = { version = "1.0", features = ["derive"], default-features = false } serde = { version = "1.0", features = ["derive"], default-features = false }
generic-array = "0.14" generic-array = "0.14"
num = { version = "0.3.1", default-features = false } num = { version = "0.4.0", default-features = false }
miniconf = "0.1" miniconf = "0.1"
[dev-dependencies] [dev-dependencies]
easybench = "1.0" easybench = "1.0"
rand = "0.8" rand = "0.8"
ndarray = "0.14" ndarray = "0.15"
[[bench]] [[bench]]
name = "micro" name = "micro"

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hitl/README.md Normal file
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@ -0,0 +1,25 @@
# Stabilizer HITL Testing
This directory contains tooling required for Stabilizer hardware-in-the-loop (HITL) testing.
There is a `Stabilizer` board connected at the Quartiq office that is accessible via a private HITL
repository in order to provide secure hardware testing of the stabilizer application in a public
repository.
**Note**: In order to ensure application security, all HITL runs must first be approved by a Quartiq
representative before execution.
# Configuration
* Stabilizer is configured with an ethernet connection to a router. The router runs a DHCP server for
the local network, and ensures that the Stabilizer used for these tests is available under the hostname `stabilizer-hitl`.
* An MQTT broker is running at the hostname `mqtt`.
# HITL Workflow
The private HITL repository does the following:
1. Check out this repository
2. Build firmware images using Cargo
3. Program stabilizer
4. Execute `hitl/run.sh`
In order to add new HITL tests, update `run.sh` to include the necessary tests.

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hitl/run.sh Executable file
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#!/bin/bash
# Title:
# Stabilizer hardware-in-the-loop (HITL) test script.
#
# Description:
# This shell file is executed by the hardware runner in Quartiq's office to exercise the various
# hardware aspects of Stabilizer.
# Enable shell operating mode flags.
set -eux
# Set up python for testing
python3 -m venv --system-site-packages py
. py/bin/activate
python3 -m pip install -r requirements.txt
# Test pinging Stabilizer. This exercises that:
# * DHCP is functional and an IP has been acquired
# * Stabilizer's network is functioning as intended
# * The stabilizer application is operational
ping -c 5 -w 20 stabilizer-hitl
# Test the MQTT interface.
python3 miniconf.py dt/sinara/stabilizer afe/0 '"G2"'

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requirements.txt Normal file
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gmqtt

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src/hardware/pounder/mod.rs
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@ -231,14 +231,16 @@ impl ad9959::Interface for QspiInterface {
}; };
self.qspi self.qspi
.write(encoded_address, &encoded_payload) .write(encoded_address.into(), &encoded_payload)
.map_err(|_| Error::Qspi) .map_err(|_| Error::Qspi)
} }
ad9959::Mode::FourBitSerial => { ad9959::Mode::FourBitSerial => {
if self.streaming { if self.streaming {
Err(Error::Qspi) Err(Error::Qspi)
} else { } else {
self.qspi.write(addr, data).map_err(|_| Error::Qspi)?; self.qspi
.write(addr.into(), data)
.map_err(|_| Error::Qspi)?;
Ok(()) Ok(())
} }
} }
@ -257,7 +259,7 @@ impl ad9959::Interface for QspiInterface {
} }
self.qspi self.qspi
.read(0x80_u8 | addr, dest) .read((0x80_u8 | addr).into(), dest)
.map_err(|_| Error::Qspi) .map_err(|_| Error::Qspi)
} }
} }