hardware: add digital input support
* The inputs of the buffer are not pulled up/down. That might make them unusable if left floating.
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@ -117,7 +117,7 @@ impl IIR {
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/// # Arguments
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/// # Arguments
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/// * `xy` - Current filter state.
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/// * `xy` - Current filter state.
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/// * `x0` - New input.
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/// * `x0` - New input.
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pub fn update(&self, xy: &mut Vec5, x0: f32) -> f32 {
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pub fn update(&self, xy: &mut Vec5, x0: f32, hold: bool) -> f32 {
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let n = self.ba.len();
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let n = self.ba.len();
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debug_assert!(xy.len() == n);
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debug_assert!(xy.len() == n);
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// `xy` contains x0 x1 y0 y1 y2
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// `xy` contains x0 x1 y0 y1 y2
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@ -128,7 +128,11 @@ impl IIR {
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// Store x0 x0 x1 x2 y1 y2
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// Store x0 x0 x1 x2 y1 y2
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xy[0] = x0;
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xy[0] = x0;
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// Compute y0 by multiply-accumulate
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// Compute y0 by multiply-accumulate
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let y0 = macc(self.y_offset, xy, &self.ba);
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let y0 = if hold {
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xy[n / 2 + 1]
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} else {
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macc(self.y_offset, xy, &self.ba)
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};
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// Limit y0
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// Limit y0
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let y0 = max(self.y_min, min(self.y_max, y0));
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let y0 = max(self.y_min, min(self.y_max, y0));
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// Store y0 x0 x1 y0 y1 y2
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// Store y0 x0 x1 y0 y1 y2
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@ -4,6 +4,8 @@
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use stm32h7xx_hal as hal;
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use stm32h7xx_hal as hal;
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pub use embedded_hal::digital::v2::InputPin;
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use stabilizer::hardware;
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use stabilizer::hardware;
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use miniconf::{minimq, Miniconf, MqttInterface};
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use miniconf::{minimq, Miniconf, MqttInterface};
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@ -12,7 +14,7 @@ use serde::Deserialize;
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use dsp::iir;
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use dsp::iir;
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use hardware::{
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use hardware::{
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Adc0Input, Adc1Input, AfeGain, CycleCounter, Dac0Output, Dac1Output,
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Adc0Input, Adc1Input, AfeGain, CycleCounter, Dac0Output, Dac1Output,
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NetworkStack, AFE0, AFE1,
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DigitalInput1, NetworkStack, AFE0, AFE1,
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};
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};
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const SCALE: f32 = i16::MAX as _;
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const SCALE: f32 = i16::MAX as _;
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@ -39,6 +41,7 @@ impl Default for Settings {
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const APP: () = {
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const APP: () = {
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struct Resources {
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struct Resources {
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afes: (AFE0, AFE1),
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afes: (AFE0, AFE1),
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di1: DigitalInput1,
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adcs: (Adc0Input, Adc1Input),
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adcs: (Adc0Input, Adc1Input),
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dacs: (Dac0Output, Dac1Output),
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dacs: (Dac0Output, Dac1Output),
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mqtt_interface:
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mqtt_interface:
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@ -90,6 +93,7 @@ const APP: () = {
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adcs: stabilizer.adcs,
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adcs: stabilizer.adcs,
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dacs: stabilizer.dacs,
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dacs: stabilizer.dacs,
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clock: stabilizer.cycle_counter,
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clock: stabilizer.cycle_counter,
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di1: stabilizer.digital_inputs.1,
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}
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}
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}
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}
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@ -109,7 +113,7 @@ const APP: () = {
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///
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///
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/// Because the ADC and DAC operate at the same rate, these two constraints actually implement
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/// Because the ADC and DAC operate at the same rate, these two constraints actually implement
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/// the same time bounds, meeting one also means the other is also met.
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/// the same time bounds, meeting one also means the other is also met.
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#[task(binds=DMA1_STR4, resources=[adcs, dacs, iir_state, iir_ch], priority=2)]
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#[task(binds=DMA1_STR4, resources=[adcs, di1, dacs, iir_state, iir_ch], priority=2)]
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fn process(c: process::Context) {
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fn process(c: process::Context) {
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let adc_samples = [
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let adc_samples = [
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c.resources.adcs.0.acquire_buffer(),
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c.resources.adcs.0.acquire_buffer(),
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@ -121,13 +125,17 @@ const APP: () = {
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c.resources.dacs.1.acquire_buffer(),
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c.resources.dacs.1.acquire_buffer(),
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];
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];
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let hold = c.resources.di1.is_high().unwrap();
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for channel in 0..adc_samples.len() {
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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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for sample in 0..adc_samples[0].len() {
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let x = f32::from(adc_samples[channel][sample] as i16);
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let mut y = f32::from(adc_samples[channel][sample] as i16);
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let mut y = x;
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for i in 0..c.resources.iir_state[channel].len() {
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for i in 0..c.resources.iir_state[channel].len() {
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y = c.resources.iir_ch[channel][i]
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y = c.resources.iir_ch[channel][i].update(
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.update(&mut c.resources.iir_state[channel][i], y);
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&mut c.resources.iir_state[channel][i],
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y,
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hold,
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);
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}
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}
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// Note(unsafe): The filter limits ensure that the value is in range.
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// Note(unsafe): The filter limits ensure that the value is in range.
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// The truncation introduces 1/2 LSB distortion.
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// The truncation introduces 1/2 LSB distortion.
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@ -9,12 +9,12 @@ use stm32h7xx_hal::{
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use smoltcp_nal::smoltcp;
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use smoltcp_nal::smoltcp;
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use embedded_hal::digital::v2::{InputPin, OutputPin};
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pub use embedded_hal::digital::v2::{InputPin, OutputPin};
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use super::{
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use super::{
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adc, afe, cycle_counter::CycleCounter, dac, design_parameters,
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adc, afe, cycle_counter::CycleCounter, dac, design_parameters,
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digital_input_stamper, eeprom, pounder, timers, DdsOutput, NetworkStack,
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digital_input_stamper, eeprom, pounder, timers, DdsOutput, DigitalInput0,
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AFE0, AFE1,
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DigitalInput1, NetworkStack, AFE0, AFE1,
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};
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};
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pub struct NetStorage {
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pub struct NetStorage {
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@ -69,6 +69,7 @@ pub struct StabilizerDevices {
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pub timestamp_timer: timers::TimestampTimer,
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pub timestamp_timer: timers::TimestampTimer,
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pub net: NetworkDevices,
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pub net: NetworkDevices,
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pub cycle_counter: CycleCounter,
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pub cycle_counter: CycleCounter,
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pub digital_inputs: (DigitalInput0, DigitalInput1),
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}
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}
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/// The available Pounder-specific hardware interfaces.
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/// The available Pounder-specific hardware interfaces.
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@ -439,6 +440,12 @@ pub fn setup(
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)
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)
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};
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};
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let digital_inputs = {
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let di0 = gpiog.pg9.into_floating_input();
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let di1 = gpioc.pc15.into_floating_input();
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(di0, di1)
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};
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let mut eeprom_i2c = {
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let mut eeprom_i2c = {
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let sda = gpiof.pf0.into_alternate_af4().set_open_drain();
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let sda = gpiof.pf0.into_alternate_af4().set_open_drain();
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let scl = gpiof.pf1.into_alternate_af4().set_open_drain();
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let scl = gpiof.pf1.into_alternate_af4().set_open_drain();
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@ -872,6 +879,7 @@ pub fn setup(
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adc_dac_timer: sampling_timer,
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adc_dac_timer: sampling_timer,
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timestamp_timer,
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timestamp_timer,
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cycle_counter,
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cycle_counter,
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digital_inputs,
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};
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};
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// info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
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// info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
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@ -34,6 +34,14 @@ pub type AFE1 = afe::ProgrammableGainAmplifier<
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hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>,
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hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>,
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>;
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>;
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// Type alias for digital input 0 (DI0).
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pub type DigitalInput0 =
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hal::gpio::gpiog::PG9<hal::gpio::Input<hal::gpio::Floating>>;
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// Type alias for digital input 1 (DI1).
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pub type DigitalInput1 =
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hal::gpio::gpioc::PC15<hal::gpio::Input<hal::gpio::Floating>>;
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pub type NetworkStack = smoltcp_nal::NetworkStack<
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pub type NetworkStack = smoltcp_nal::NetworkStack<
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'static,
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'static,
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'static,
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'static,
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