hardware: add digital input support

* The inputs of the buffer are not pulled up/down. That might make them
  unusable if left floating.
This commit is contained in:
Robert Jördens 2021-04-14 15:53:52 +02:00
parent 1d65edc72a
commit 8954c94a20
4 changed files with 39 additions and 11 deletions

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@ -117,7 +117,7 @@ impl IIR {
/// # Arguments /// # Arguments
/// * `xy` - Current filter state. /// * `xy` - Current filter state.
/// * `x0` - New input. /// * `x0` - New input.
pub fn update(&self, xy: &mut Vec5, x0: f32) -> f32 { pub fn update(&self, xy: &mut Vec5, x0: f32, hold: bool) -> f32 {
let n = self.ba.len(); let n = self.ba.len();
debug_assert!(xy.len() == n); debug_assert!(xy.len() == n);
// `xy` contains x0 x1 y0 y1 y2 // `xy` contains x0 x1 y0 y1 y2
@ -128,7 +128,11 @@ impl IIR {
// Store x0 x0 x1 x2 y1 y2 // Store x0 x0 x1 x2 y1 y2
xy[0] = x0; xy[0] = x0;
// Compute y0 by multiply-accumulate // Compute y0 by multiply-accumulate
let y0 = macc(self.y_offset, xy, &self.ba); let y0 = if hold {
xy[n / 2 + 1]
} else {
macc(self.y_offset, xy, &self.ba)
};
// Limit y0 // Limit y0
let y0 = max(self.y_min, min(self.y_max, y0)); let y0 = max(self.y_min, min(self.y_max, y0));
// Store y0 x0 x1 y0 y1 y2 // Store y0 x0 x1 y0 y1 y2

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@ -4,6 +4,8 @@
use stm32h7xx_hal as hal; use stm32h7xx_hal as hal;
pub use embedded_hal::digital::v2::InputPin;
use stabilizer::hardware; use stabilizer::hardware;
use miniconf::{minimq, Miniconf, MqttInterface}; use miniconf::{minimq, Miniconf, MqttInterface};
@ -12,7 +14,7 @@ use serde::Deserialize;
use dsp::iir; use dsp::iir;
use hardware::{ use hardware::{
Adc0Input, Adc1Input, AfeGain, CycleCounter, Dac0Output, Dac1Output, Adc0Input, Adc1Input, AfeGain, CycleCounter, Dac0Output, Dac1Output,
NetworkStack, AFE0, AFE1, DigitalInput1, NetworkStack, AFE0, AFE1,
}; };
const SCALE: f32 = i16::MAX as _; const SCALE: f32 = i16::MAX as _;
@ -39,6 +41,7 @@ impl Default for Settings {
const APP: () = { const APP: () = {
struct Resources { struct Resources {
afes: (AFE0, AFE1), afes: (AFE0, AFE1),
di1: DigitalInput1,
adcs: (Adc0Input, Adc1Input), adcs: (Adc0Input, Adc1Input),
dacs: (Dac0Output, Dac1Output), dacs: (Dac0Output, Dac1Output),
mqtt_interface: mqtt_interface:
@ -90,6 +93,7 @@ const APP: () = {
adcs: stabilizer.adcs, adcs: stabilizer.adcs,
dacs: stabilizer.dacs, dacs: stabilizer.dacs,
clock: stabilizer.cycle_counter, clock: stabilizer.cycle_counter,
di1: stabilizer.digital_inputs.1,
} }
} }
@ -109,7 +113,7 @@ const APP: () = {
/// ///
/// Because the ADC and DAC operate at the same rate, these two constraints actually implement /// Because the ADC and DAC operate at the same rate, these two constraints actually implement
/// the same time bounds, meeting one also means the other is also met. /// the same time bounds, meeting one also means the other is also met.
#[task(binds=DMA1_STR4, resources=[adcs, dacs, iir_state, iir_ch], priority=2)] #[task(binds=DMA1_STR4, resources=[adcs, di1, dacs, iir_state, iir_ch], priority=2)]
fn process(c: process::Context) { fn process(c: process::Context) {
let adc_samples = [ let adc_samples = [
c.resources.adcs.0.acquire_buffer(), c.resources.adcs.0.acquire_buffer(),
@ -121,13 +125,17 @@ const APP: () = {
c.resources.dacs.1.acquire_buffer(), c.resources.dacs.1.acquire_buffer(),
]; ];
let hold = c.resources.di1.is_high().unwrap();
for channel in 0..adc_samples.len() { for channel in 0..adc_samples.len() {
for sample in 0..adc_samples[0].len() { for sample in 0..adc_samples[0].len() {
let x = f32::from(adc_samples[channel][sample] as i16); let mut y = f32::from(adc_samples[channel][sample] as i16);
let mut y = x;
for i in 0..c.resources.iir_state[channel].len() { for i in 0..c.resources.iir_state[channel].len() {
y = c.resources.iir_ch[channel][i] y = c.resources.iir_ch[channel][i].update(
.update(&mut c.resources.iir_state[channel][i], y); &mut c.resources.iir_state[channel][i],
y,
hold,
);
} }
// Note(unsafe): The filter limits ensure that the value is in range. // Note(unsafe): The filter limits ensure that the value is in range.
// The truncation introduces 1/2 LSB distortion. // The truncation introduces 1/2 LSB distortion.

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@ -9,12 +9,12 @@ use stm32h7xx_hal::{
use smoltcp_nal::smoltcp; use smoltcp_nal::smoltcp;
use embedded_hal::digital::v2::{InputPin, OutputPin}; pub use embedded_hal::digital::v2::{InputPin, OutputPin};
use super::{ use super::{
adc, afe, cycle_counter::CycleCounter, dac, design_parameters, adc, afe, cycle_counter::CycleCounter, dac, design_parameters,
digital_input_stamper, eeprom, pounder, timers, DdsOutput, NetworkStack, digital_input_stamper, eeprom, pounder, timers, DdsOutput, DigitalInput0,
AFE0, AFE1, DigitalInput1, NetworkStack, AFE0, AFE1,
}; };
pub struct NetStorage { pub struct NetStorage {
@ -69,6 +69,7 @@ pub struct StabilizerDevices {
pub timestamp_timer: timers::TimestampTimer, pub timestamp_timer: timers::TimestampTimer,
pub net: NetworkDevices, pub net: NetworkDevices,
pub cycle_counter: CycleCounter, pub cycle_counter: CycleCounter,
pub digital_inputs: (DigitalInput0, DigitalInput1),
} }
/// The available Pounder-specific hardware interfaces. /// The available Pounder-specific hardware interfaces.
@ -439,6 +440,12 @@ pub fn setup(
) )
}; };
let digital_inputs = {
let di0 = gpiog.pg9.into_floating_input();
let di1 = gpioc.pc15.into_floating_input();
(di0, di1)
};
let mut eeprom_i2c = { let mut eeprom_i2c = {
let sda = gpiof.pf0.into_alternate_af4().set_open_drain(); let sda = gpiof.pf0.into_alternate_af4().set_open_drain();
let scl = gpiof.pf1.into_alternate_af4().set_open_drain(); let scl = gpiof.pf1.into_alternate_af4().set_open_drain();
@ -872,6 +879,7 @@ pub fn setup(
adc_dac_timer: sampling_timer, adc_dac_timer: sampling_timer,
timestamp_timer, timestamp_timer,
cycle_counter, cycle_counter,
digital_inputs,
}; };
// info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap()); // info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());

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@ -34,6 +34,14 @@ pub type AFE1 = afe::ProgrammableGainAmplifier<
hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>, hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>,
>; >;
// Type alias for digital input 0 (DI0).
pub type DigitalInput0 =
hal::gpio::gpiog::PG9<hal::gpio::Input<hal::gpio::Floating>>;
// Type alias for digital input 1 (DI1).
pub type DigitalInput1 =
hal::gpio::gpioc::PC15<hal::gpio::Input<hal::gpio::Floating>>;
pub type NetworkStack = smoltcp_nal::NetworkStack< pub type NetworkStack = smoltcp_nal::NetworkStack<
'static, 'static,
'static, 'static,