Merge branch 'rj/log' into rj/itcm

* rj/log:
  refine panic handler and add some logging info
  hitl: kill probe-run cleanly
  set target-cpu=cortex-m7, MSRV 1.52.0, use probe-run
  README: document lockin, cleanup instructions, use probe-run
  CHANGELOG: update
  README: streamline docs a bit, add probe-run
  update hitl script
  remove rtt feature
  use rtt logging
  dsp/lowpass,lockin: const generics

.cargo/config

@@ -1,16 +1,11 @@
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
-runner = "gdb-multiarch -q -x openocd.gdb"
+runner = "probe-run --chip STM32H743ZITx --speed 30000"
+# runner = "gdb-multiarch -q -x openocd.gdb"
 rustflags = [
     "-C", "link-arg=--nmagic",
     "-C", "link-arg=-Tlink.x",
-# The target (below) defaults to cortex-m4
+    "-C", "link-arg=--nmagic",
-# There currently are two different options to go beyond that:
+    "-C", "target-cpu=cortex-m7",
-# 1. cortex-m7 has the right flags and instructions (FPU) but no instruction schedule yet
-#    "-C", "target-cpu=cortex-m7",
-# 2. cortex-m4 with the additional fpv5 instructions and a potentially
-# better-than-nothing instruction schedule
-    "-C", "target-feature=+fp-armv8d16",
-# When combined they are equivalent to (1) alone
 ]
 
 [build]

CHANGELOG.md

@@ -9,8 +9,15 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ### Added
 
+* Telemetry
+* RTT logging
+
 ### Changed
 
+* Const generics, bumping the MSRV to 1.51.0
+* `lockin-internal` and `lockin-external` have been merged into `lockin`
+* Set target CPU to cortex-m7, effectively bumping the MSRV to 1.52.0
+
 ### Fixed
 
 ## [v0.5.0] - 2021-04-21

Cargo.lock

@@ -139,17 +139,6 @@ dependencies = [
  "volatile-register",
 ]
 
-[[package]]
-name = "cortex-m-log"
-version = "0.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e202d2eac4e34adf7524a563e36623bae6f69cc0a73ef9bd22a4c93a5a806fa"
-dependencies = [
- "cortex-m 0.7.2",
- "cortex-m-semihosting",
- "log",
-]
-
 [[package]]
 name = "cortex-m-rt"
 version = "0.6.13"
@@ -194,15 +183,6 @@ dependencies = [
  "syn",
 ]
 
-[[package]]
-name = "cortex-m-semihosting"
-version = "0.3.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6bffa6c1454368a6aa4811ae60964c38e6996d397ff8095a8b9211b1c1f749bc"
-dependencies = [
- "cortex-m 0.7.2",
-]
-
 [[package]]
 name = "derive_miniconf"
 version = "0.1.0"
@@ -218,7 +198,6 @@ name = "dsp"
 version = "0.1.0"
 dependencies = [
  "easybench",
- "generic-array 0.14.4",
  "libm",
  "miniconf",
  "ndarray",
@@ -541,16 +520,6 @@ dependencies = [
  "autocfg",
 ]
 
-[[package]]
-name = "panic-semihosting"
-version = "0.5.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c3d55dedd501dfd02514646e0af4d7016ce36bc12ae177ef52056989966a1eec"
-dependencies = [
- "cortex-m 0.7.2",
- "cortex-m-semihosting",
-]
-
 [[package]]
 name = "paste"
 version = "1.0.5"
@@ -644,6 +613,26 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "rtt-logger"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d082d3a20a5d4f69ad509720de1777fe5aa2092ea1af51b254ff79113d46d2ea"
+dependencies = [
+ "log",
+ "rtt-target",
+]
+
+[[package]]
+name = "rtt-target"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0869b4c5b6a6d8c5583fc473f9eb3423a170f77626b8c8a7fb18eddcda5770e2"
+dependencies = [
+ "cortex-m 0.6.7",
+ "ufmt-write",
+]
+
 [[package]]
 name = "rustc_version"
 version = "0.2.3"
@@ -745,7 +734,6 @@ dependencies = [
  "asm-delay",
  "cc",
  "cortex-m 0.6.7",
- "cortex-m-log",
  "cortex-m-rt",
  "cortex-m-rtic",
  "dsp",
@@ -758,8 +746,9 @@ dependencies = [
  "miniconf",
  "minimq",
  "nb 1.0.0",
- "panic-semihosting",
  "paste",
+ "rtt-logger",
+ "rtt-target",
  "serde",
  "serde-json-core",
  "shared-bus",
@@ -821,6 +810,12 @@ version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "879f6906492a7cd215bfa4cf595b600146ccfac0c79bcbd1f3000162af5e8b06"
 
+[[package]]
+name = "ufmt-write"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e87a2ed6b42ec5e28cc3b94c09982969e9227600b2e3dcbc1db927a84c06bd69"
+
 [[package]]
 name = "unicode-xid"
 version = "0.2.1"

Cargo.toml

@@ -30,9 +30,9 @@ members = ["ad9959", "dsp"]
 [dependencies]
 cortex-m = { version = "0.6", features = ["const-fn"] }
 cortex-m-rt = { version = "0.6", features = ["device"] }
-cortex-m-log = { version = "0.7", features = ["log-integration"] }
+log = { version = "0.4", features = ["max_level_trace", "release_max_level_info"] }
-log = "0.4"
+rtt-target = { version = "0.2.1", features = ["cortex-m"] }
-panic-semihosting = { version = "0.5", optional = true }
+rtt-logger = { version = "0.1" }
 serde = { version = "1.0", features = ["derive"], default-features = false }
 heapless = { version = "0.6", features = ["serde"] }
 cortex-m-rtic = "0.5.6"
@@ -76,7 +76,6 @@ git = "https://github.com/quartiq/minimq.git"
 rev = "d2ec3e8"
 
 [features]
-semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
 bkpt = [ ]
 nightly = ["cortex-m/inline-asm", "dsp/nightly"]
 pounder_v1_1 = [ ]

README.md

@@ -10,10 +10,10 @@
 
 ## Applications
 
-The Stabilizer firmware offeres a library of hardware and software functionality
+This firmware offers a library of hardware and software functionality targeting the use of the Stabilizer hardware in various digital signal processing applications commonly occurring in Quantum Technology.
-exposing input/output, timing, and digital signal processing features.
+It provides abstractions over the fast analog inputs and outputs, time stamping, Pounder DDS interfaces and a collection of tailored and optimized digital signal processing algorithms (IIR, FIR, Lockin, PLL, reciprocal PLL, Unwrapper, Lowpass, Cosine-Sine, Atan2).
-An application can compose and configure these hardware and software components
+An application can compose and configure these hardware and software components to implement different use cases.
-to implement different use cases. Several applications are provides by default
+Several applications are provides by default:
 
 ### Dual-IIR
 
@@ -31,22 +31,34 @@ to implement different use cases. Several applications are provides by default
 
 ### Lockin
 
+* Up to 800 kHz sampling
+* Up to 400 kHz modulation frequency
+* Reciprocal PLL for external reference
+* Internal reference
+* Adjustable PLL and locking time constants
+* Adjustable phase offset and harmonic index
+* Different output modes (in-phase, quadrature, magnitude, log2 power, phase, frequency)
+
 ## Minimal bootstrapping documentation
 
 * Clone or download this
 * Get [rustup](https://rustup.rs/)
-* `rustup target add thumbv7em-none-eabihf`
+* Minimum supported Rust version (MSRV) is 1.52.0
-* `cargo build --release`
+* Install target support: `rustup target add thumbv7em-none-eabihf`
+* Install `probe-run`: `cargo install probe-run`
+* `cargo run --release --bin dual-iir`
 * When using debug (non `--release`) mode, increase the sample interval significantly.
   The added error checking code and missing optimizations may lead to the code
   missing deadlines and panicing.
 
-### Using Cargo-embed
+## Alternative flashing tools
+
+### Cargo-embed
 
 * Install `cargo-embed`: `cargo install cargo-embed`
 * Program the device: `cargo embed --bin dual-iir --release`
 
-### Using GDB/OpenOCD
+### GDB/OpenOCD
 
 * Get a recent openocd, a JTAG adapter ("st-link" or some clone) and
   everything connected and permissions setup. Most
@@ -56,24 +68,24 @@ to implement different use cases. Several applications are provides by default
 * `openocd -f stabilizer.cfg` and leave it running
 * `cargo run --release`
 
-### Using USB-DFU
+### USB-DFU
 
+* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
+* `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
 * Install the DFU USB tool (`dfu-util`)
 * Connect to the Micro USB connector below the RJ45
 * Short JC2/BOOT
-* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
-* `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
 * `dfu-util -a 0 -s 0x08000000:leave -D dual-iir.bin`
 
-### Using ST-Link virtual mass storage
+### ST-Link virtual mass storage
 
-* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
+* Prepare `dual-iir.bin` like above
-* `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
 * Connect the ST-Link debugger
-* copy `dual-iir.bin` to the `NODE_H743ZI` USB disk
+* Copy `dual-iir.bin` to the `NODE_H743ZI` virtual mass storage device
 
 ## Protocol
 
 Stabilizer can be configured via MQTT. Refer to
 [`miniconf`](https://github.com/quartiq/miniconf) for more information about topics.
 A basic command line interface is available in [`miniconf.py`](miniconf.py).
+Telemetry is published via MQTT as well.

dsp/Cargo.toml

@@ -7,7 +7,6 @@ edition = "2018"
 [dependencies]
 libm = "0.2.1"
 serde = { version = "1.0", features = ["derive"], default-features = false }
-generic-array = "0.14"
 num = { version = "0.4.0", default-features = false }
 miniconf = "0.1"
 

dsp/benches/micro.rs

@@ -1,7 +1,6 @@
 use core::f32::consts::PI;
 
 use easybench::bench_env;
-use generic_array::typenum::U4;
 
 use dsp::{atan2, cossin, iir, iir_int, Lowpass, PLL, RPLL};
 
@@ -72,13 +71,13 @@ fn iir_bench() {
 }
 
 fn lowpass_bench() {
-    let mut dut = Lowpass::<U4>::default();
+    let mut dut = Lowpass::<4>::default();
     println!(
-        "Lowpass::<U4>::update(x, k): {}",
+        "Lowpass::<4>::update(x, k): {}",
         bench_env((0x32421, 14), |(x, k)| dut.update(*x, *k))
     );
     println!(
-        "Lowpass::<U4>::update(x, 14): {}",
+        "Lowpass::<4>::update(x, 14): {}",
         bench_env(0x32421, |x| dut.update(*x, 14))
     );
 }

dsp/src/lockin.rs

@@ -1,12 +1,11 @@
 use super::{Complex, ComplexExt, Lowpass, MulScaled};
-use generic_array::ArrayLength;
 
 #[derive(Clone, Default)]
-pub struct Lockin<N: ArrayLength<i32>> {
+pub struct Lockin<const N: usize> {
     state: [Lowpass<N>; 2],
 }
 
-impl<N: ArrayLength<i32>> Lockin<N> {
+impl<const N: usize> Lockin<N> {
     /// Update the lockin with a sample taken at a given phase.
     pub fn update(&mut self, sample: i32, phase: i32, k: u8) -> Complex<i32> {
         // Get the LO signal for demodulation and mix the sample;

dsp/src/lowpass.rs

@@ -1,16 +1,20 @@
-use generic_array::{ArrayLength, GenericArray};
-
 /// Arbitrary order, high dynamic range, wide coefficient range,
 /// lowpass filter implementation. DC gain is 1.
 ///
 /// Type argument N is the filter order.
-#[derive(Clone, Default)]
+#[derive(Clone)]
-pub struct Lowpass<N: ArrayLength<i32>> {
+pub struct Lowpass<const N: usize> {
     // IIR state storage
-    y: GenericArray<i32, N>,
+    y: [i32; N],
 }
 
-impl<N: ArrayLength<i32>> Lowpass<N> {
+impl<const N: usize> Default for Lowpass<N> {
+    fn default() -> Self {
+        Lowpass { y: [0i32; N] }
+    }
+}
+
+impl<const N: usize> Lowpass<N> {
     /// Update the filter with a new sample.
     ///
     /// # Args

hitl/run.sh

@@ -15,9 +15,9 @@ python3 -m venv --system-site-packages py
 . py/bin/activate
 python3 -m pip install -r requirements.txt
 
-cargo flash --elf target/thumbv7em-none-eabihf/release/dual-iir --chip STM32H743ZITx
+probe-run --chip STM32H743ZITx target/thumbv7em-none-eabihf/release/dual-iir &
 
-# Before attempting to ping the device, sleep to allow Stabilizer to boot.
+# Sleep to allow flashing, booting, DHCP, MQTT
 sleep 30
 
 # Test pinging Stabilizer. This exercises that:
@@ -30,3 +30,6 @@ ping -c 5 -w 20 stabilizer-hitl
 python3 miniconf.py dt/sinara/dual-iir/04-91-62-d9-7e-5f afe/0='"G2"'
 python3 miniconf.py dt/sinara/dual-iir/04-91-62-d9-7e-5f afe/0='"G1"' iir_ch/0/0=\
 '{"y_min": -32767, "y_max": 32767, "y_offset": 0, "ba": [1.0, 0, 0, 0, 0]}'
+
+kill $(jobs -p)
+wait || true

src/bin/lockin.rs

@@ -3,7 +3,6 @@
 #![no_main]
 
 use embedded_hal::digital::v2::InputPin;
-use generic_array::typenum::U4;
 
 use serde::Deserialize;
 
@@ -92,7 +91,7 @@ const APP: () = {
 
         timestamper: InputStamper,
         pll: RPLL,
-        lockin: Lockin<U4>,
+        lockin: Lockin<4>,
     }
 
     #[init(spawn=[settings_update, telemetry])]

src/hardware/configuration.rs

@@ -145,19 +145,19 @@ pub fn setup(
         .pll2_q_ck(100.mhz())
         .freeze(vos, &device.SYSCFG);
 
-    #[cfg(feature = "semihosting")]
+    // Set up RTT logging
     {
-        use cortex_m_log::log::{init as init_log, Logger};
+        // Enable debug during WFE/WFI-induced sleep
-        use cortex_m_log::printer::semihosting::{hio::HStdout, InterruptOk};
+        device.DBGMCU.cr.modify(|_, w| w.dbgsleep_d1().set_bit());
-        use log::LevelFilter;
-        static mut LOGGER: Option<Logger<InterruptOk<HStdout>>> = None;
-        let logger = Logger {
-            inner: InterruptOk::<_>::stdout().unwrap(),
-            level: LevelFilter::Info,
-        };
-        let logger = unsafe { LOGGER.get_or_insert(logger) };
 
-        init_log(logger).unwrap();
+        use rtt_logger::RTTLogger;
+
+        static LOGGER: RTTLogger = RTTLogger::new(log::LevelFilter::Info);
+        rtt_target::rtt_init_print!(NoBlockSkip, 1024);
+        log::set_logger(&LOGGER)
+            .map(|()| log::set_max_level(log::LevelFilter::Trace))
+            .unwrap();
+        log::info!("starting...");
     }
 
     // Set up the system timer for RTIC scheduling.
@@ -537,6 +537,7 @@ pub fn setup(
         &mut eeprom_i2c,
         &mut delay,
     ));
+    log::info!("EUI48: {}", mac_addr);
 
     let network_devices = {
         // Configure the ethernet controller
@@ -673,6 +674,7 @@ pub fn setup(
     let pounder_pgood = gpiob.pb13.into_pull_down_input();
     delay.delay_ms(2u8);
     let pounder = if pounder_pgood.is_high().unwrap() {
+        log::info!("Found Pounder");
         let ad9959 = {
             let qspi_interface = {
                 // Instantiate the QUADSPI pins and peripheral interface.
@@ -935,6 +937,7 @@ pub fn setup(
     // info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
     // info!("Built on {}", build_info::BUILT_TIME_UTC);
     // info!("{} {}", build_info::RUSTC_VERSION, build_info::TARGET);
+    log::info!("setup() complete");
 
     // Enable the instruction cache.
     core.SCB.enable_icache();

src/hardware/mod.rs

@@ -4,9 +4,6 @@ use stm32h7xx_hal as hal;
 // Re-export for the DigitalInputs below:
 pub use embedded_hal::digital::v2::InputPin;
 
-#[cfg(feature = "semihosting")]
-use panic_semihosting as _;
-
 mod adc;
 mod afe;
 mod configuration;
@@ -59,17 +56,37 @@ pub use configuration::{setup, PounderDevices, StabilizerDevices};
 
 #[inline(never)]
 #[panic_handler]
-#[cfg(all(not(feature = "semihosting")))]
+fn panic(info: &core::panic::PanicInfo) -> ! {
-fn panic(_info: &core::panic::PanicInfo) -> ! {
+    use core::{
-    let gpiod = unsafe { &*hal::stm32::GPIOD::ptr() };
+        fmt::Write,
-    // Turn on both red LEDs, FP_LED_1, FP_LED_3
+        sync::atomic::{AtomicBool, Ordering},
-    gpiod.odr.modify(|_, w| w.odr6().high().odr12().high());
+    };
-    loop {
+    use cortex_m::asm;
-        // Halt
+    use rtt_target::{ChannelMode, UpChannel};
-        core::sync::atomic::compiler_fence(
+
-            core::sync::atomic::Ordering::SeqCst,
+    cortex_m::interrupt::disable();
-        );
+
+    // Recursion protection
+    static PANICKED: AtomicBool = AtomicBool::new(false);
+    while PANICKED.load(Ordering::Relaxed) {
+        asm::bkpt();
     }
+    PANICKED.store(true, Ordering::Relaxed);
+
+    // Turn on both red LEDs, FP_LED_1, FP_LED_3
+    let gpiod = unsafe { &*hal::stm32::GPIOD::ptr() };
+    gpiod.odr.modify(|_, w| w.odr6().high().odr12().high());
+
+    // Analogous to panic-rtt-target
+    if let Some(mut channel) = unsafe { UpChannel::conjure(0) } {
+        channel.set_mode(ChannelMode::BlockIfFull);
+        writeln!(channel, "{}", info).ok();
+    }
+
+    // Abort
+    asm::udf();
+    // Halt
+    // loop { core::sync::atomic::compiler_fence(Ordering::SeqCst); }
 }
 
 #[cortex_m_rt::exception]