Merge remote-tracking branch 'origin/rj/bump-hal-smoltcp' into feature/mqtt-convert
commit
913990d531
|
|
@ -41,13 +41,19 @@ jobs:
|
|||
matrix:
|
||||
toolchain:
|
||||
- stable
|
||||
- beta
|
||||
bin:
|
||||
- dual-iir
|
||||
- lockin
|
||||
- lockin-internal
|
||||
- lockin-external
|
||||
features:
|
||||
- ''
|
||||
- pounder_v1_1
|
||||
include:
|
||||
- toolchain: beta
|
||||
bin: dual-iir
|
||||
features: ''
|
||||
- toolchain: stable
|
||||
bin: lockin-internal
|
||||
features: pounder_v1_1
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
- name: Install Rust ${{ matrix.toolchain }}
|
||||
|
|
|
|||
|
|
@ -1,2 +1 @@
|
|||
/target
|
||||
openocd.gdb
|
||||
|
|
|
|||
|
|
@ -36,7 +36,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "b9a69a963b70ddacfcd382524f72a4576f359af9334b3bf48a79566590bb8bfa"
|
||||
dependencies = [
|
||||
"bitrate",
|
||||
"cortex-m",
|
||||
"cortex-m 0.7.1",
|
||||
"embedded-hal",
|
||||
]
|
||||
|
||||
|
|
@ -129,12 +129,6 @@ dependencies = [
|
|||
"rustc_version",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cfg-if"
|
||||
version = "0.1.10"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
|
||||
|
||||
[[package]]
|
||||
name = "cfg-if"
|
||||
version = "1.0.0"
|
||||
|
|
@ -160,23 +154,36 @@ checksum = "cd51eab21ab4fd6a3bf889e2d0958c0a6e3a61ad04260325e919e652a2a62826"
|
|||
|
||||
[[package]]
|
||||
name = "cortex-m"
|
||||
version = "0.6.4"
|
||||
version = "0.6.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "88cdafeafba636c00c467ded7f1587210725a1adfab0c24028a7844b87738263"
|
||||
checksum = "9075300b07c6a56263b9b582c214d0ff037b00d45ec9fde1cc711490c56f1bb9"
|
||||
dependencies = [
|
||||
"aligned",
|
||||
"bare-metal 0.2.5",
|
||||
"bitfield",
|
||||
"cortex-m 0.7.1",
|
||||
"volatile-register",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m"
|
||||
version = "0.7.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a0b756a8bffc56025de45218a48ff9b801180440c0ee49a722b32d49dcebc771"
|
||||
dependencies = [
|
||||
"bare-metal 0.2.5",
|
||||
"bitfield",
|
||||
"embedded-hal",
|
||||
"volatile-register",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-log"
|
||||
version = "0.6.2"
|
||||
version = "0.7.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1d63959cb1e003dd97233fee6762351540253237eadf06fcdcb98cbfa3f9be4a"
|
||||
checksum = "0e202d2eac4e34adf7524a563e36623bae6f69cc0a73ef9bd22a4c93a5a806fa"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"cortex-m 0.7.1",
|
||||
"cortex-m-semihosting",
|
||||
"log",
|
||||
]
|
||||
|
|
@ -208,7 +215,7 @@ version = "0.5.5"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b30efcb6b7920d9016182c485687f0012487032a14c415d2fce6e9862ef8260e"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"cortex-m 0.6.7",
|
||||
"cortex-m-rt",
|
||||
"cortex-m-rtic-macros",
|
||||
"heapless",
|
||||
|
|
@ -234,21 +241,21 @@ version = "0.3.7"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6bffa6c1454368a6aa4811ae60964c38e6996d397ff8095a8b9211b1c1f749bc"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"cortex-m 0.7.1",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "criterion"
|
||||
version = "0.3.3"
|
||||
version = "0.3.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "70daa7ceec6cf143990669a04c7df13391d55fb27bd4079d252fca774ba244d8"
|
||||
checksum = "ab327ed7354547cc2ef43cbe20ef68b988e70b4b593cbd66a2a61733123a3d23"
|
||||
dependencies = [
|
||||
"atty",
|
||||
"cast",
|
||||
"clap",
|
||||
"criterion-plot",
|
||||
"csv",
|
||||
"itertools",
|
||||
"itertools 0.10.0",
|
||||
"lazy_static",
|
||||
"num-traits",
|
||||
"oorandom",
|
||||
|
|
@ -270,7 +277,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "e022feadec601fba1649cfa83586381a4ad31c6bf3a9ab7d408118b05dd9889d"
|
||||
dependencies = [
|
||||
"cast",
|
||||
"itertools",
|
||||
"itertools 0.9.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -279,7 +286,7 @@ version = "0.5.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "dca26ee1f8d361640700bde38b2c37d8c22b3ce2d360e1fc1c74ea4b0aa7d775"
|
||||
dependencies = [
|
||||
"cfg-if 1.0.0",
|
||||
"cfg-if",
|
||||
"crossbeam-utils",
|
||||
]
|
||||
|
||||
|
|
@ -289,7 +296,7 @@ version = "0.8.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "94af6efb46fef72616855b036a624cf27ba656ffc9be1b9a3c931cfc7749a9a9"
|
||||
dependencies = [
|
||||
"cfg-if 1.0.0",
|
||||
"cfg-if",
|
||||
"crossbeam-epoch",
|
||||
"crossbeam-utils",
|
||||
]
|
||||
|
|
@ -300,7 +307,7 @@ version = "0.9.1"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a1aaa739f95311c2c7887a76863f500026092fb1dce0161dab577e559ef3569d"
|
||||
dependencies = [
|
||||
"cfg-if 1.0.0",
|
||||
"cfg-if",
|
||||
"const_fn",
|
||||
"crossbeam-utils",
|
||||
"lazy_static",
|
||||
|
|
@ -315,7 +322,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "02d96d1e189ef58269ebe5b97953da3274d83a93af647c2ddd6f9dab28cedb8d"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
"cfg-if 1.0.0",
|
||||
"cfg-if",
|
||||
"lazy_static",
|
||||
]
|
||||
|
||||
|
|
@ -358,6 +365,8 @@ dependencies = [
|
|||
"criterion",
|
||||
"libm",
|
||||
"miniconf",
|
||||
"ndarray",
|
||||
"rand",
|
||||
"serde",
|
||||
"serde-json-core 0.1.0",
|
||||
]
|
||||
|
|
@ -446,6 +455,17 @@ dependencies = [
|
|||
"version_check",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "getrandom"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c9495705279e7140bf035dde1f6e750c162df8b625267cd52cc44e0b156732c8"
|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
"libc",
|
||||
"wasi",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "half"
|
||||
version = "1.6.0"
|
||||
|
|
@ -508,6 +528,15 @@ dependencies = [
|
|||
"either",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "itertools"
|
||||
version = "0.10.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "37d572918e350e82412fe766d24b15e6682fb2ed2bbe018280caa810397cb319"
|
||||
dependencies = [
|
||||
"either",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "itoa"
|
||||
version = "0.4.6"
|
||||
|
|
@ -543,11 +572,11 @@ checksum = "c7d73b3f436185384286bd8098d17ec07c9a7d2388a6599f824d8502b529702a"
|
|||
|
||||
[[package]]
|
||||
name = "log"
|
||||
version = "0.4.13"
|
||||
version = "0.4.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "fcf3805d4480bb5b86070dcfeb9e2cb2ebc148adb753c5cca5f884d1d65a42b2"
|
||||
checksum = "51b9bbe6c47d51fc3e1a9b945965946b4c44142ab8792c50835a980d362c2710"
|
||||
dependencies = [
|
||||
"cfg-if 0.1.10",
|
||||
"cfg-if",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -556,6 +585,15 @@ version = "0.7.2"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c75de51135344a4f8ed3cfe2720dc27736f7711989703a0b43aadf3753c55577"
|
||||
|
||||
[[package]]
|
||||
name = "matrixmultiply"
|
||||
version = "0.2.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "916806ba0031cd542105d916a97c8572e1fa6dd79c9c51e7eb43a09ec2dd84c1"
|
||||
dependencies = [
|
||||
"rawpointer",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "mcp23017"
|
||||
version = "0.1.1"
|
||||
|
|
@ -594,7 +632,7 @@ dependencies = [
|
|||
[[package]]
|
||||
name = "minimq"
|
||||
version = "0.1.0"
|
||||
source = "git+https://github.com/quartiq/minimq.git#dc459f5a3978fd90410adc916ce12b56ca449c47"
|
||||
source = "git+https://github.com/quartiq/minimq.git#83e946544cebd09c9dd07ff1271be639138ec1ce"
|
||||
dependencies = [
|
||||
"bit_field",
|
||||
"embedded-nal",
|
||||
|
|
@ -618,12 +656,44 @@ version = "1.0.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
|
||||
|
||||
[[package]]
|
||||
name = "ndarray"
|
||||
version = "0.14.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6c0d5c9540a691d153064dc47a4db2504587a75eae07bf1d73f7a596ebc73c04"
|
||||
dependencies = [
|
||||
"matrixmultiply",
|
||||
"num-complex",
|
||||
"num-integer",
|
||||
"num-traits",
|
||||
"rawpointer",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "no-std-net"
|
||||
version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2178127478ae4ee9be7180bc9c3bffb6354dd7238400db567102f98c413a9f35"
|
||||
|
||||
[[package]]
|
||||
name = "num-complex"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "747d632c0c558b87dbabbe6a82f3b4ae03720d0646ac5b7b4dae89394be5f2c5"
|
||||
dependencies = [
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num-integer"
|
||||
version = "0.1.44"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d2cc698a63b549a70bc047073d2949cce27cd1c7b0a4a862d08a8031bc2801db"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num-traits"
|
||||
version = "0.2.14"
|
||||
|
|
@ -661,7 +731,7 @@ version = "0.5.6"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c3d55dedd501dfd02514646e0af4d7016ce36bc12ae177ef52056989966a1eec"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"cortex-m 0.7.1",
|
||||
"cortex-m-semihosting",
|
||||
]
|
||||
|
||||
|
|
@ -673,16 +743,38 @@ checksum = "c5d65c4d95931acda4498f675e332fcbdc9a06705cd07086c510e9b6009cd1c1"
|
|||
|
||||
[[package]]
|
||||
name = "plotters"
|
||||
version = "0.2.15"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0d1685fbe7beba33de0330629da9d955ac75bd54f33d7b79f9a895590124f6bb"
|
||||
checksum = "45ca0ae5f169d0917a7c7f5a9c1a3d3d9598f18f529dd2b8373ed988efea307a"
|
||||
dependencies = [
|
||||
"js-sys",
|
||||
"num-traits",
|
||||
"plotters-backend",
|
||||
"plotters-svg",
|
||||
"wasm-bindgen",
|
||||
"web-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "plotters-backend"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b07fffcddc1cb3a1de753caa4e4df03b79922ba43cf882acc1bdd7e8df9f4590"
|
||||
|
||||
[[package]]
|
||||
name = "plotters-svg"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b38a02e23bd9604b842a812063aec4ef702b57989c37b655254bb61c471ad211"
|
||||
dependencies = [
|
||||
"plotters-backend",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "ppv-lite86"
|
||||
version = "0.2.10"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ac74c624d6b2d21f425f752262f42188365d7b8ff1aff74c82e45136510a4857"
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro2"
|
||||
version = "1.0.24"
|
||||
|
|
@ -707,6 +799,52 @@ version = "0.2.2"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
|
||||
|
||||
[[package]]
|
||||
name = "rand"
|
||||
version = "0.8.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0ef9e7e66b4468674bfcb0c81af8b7fa0bb154fa9f28eb840da5c447baeb8d7e"
|
||||
dependencies = [
|
||||
"libc",
|
||||
"rand_chacha",
|
||||
"rand_core",
|
||||
"rand_hc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rand_chacha"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e12735cf05c9e10bf21534da50a147b924d555dc7a547c42e6bb2d5b6017ae0d"
|
||||
dependencies = [
|
||||
"ppv-lite86",
|
||||
"rand_core",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rand_core"
|
||||
version = "0.6.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c026d7df8b298d90ccbbc5190bd04d85e159eaf5576caeacf8741da93ccbd2e5"
|
||||
dependencies = [
|
||||
"getrandom",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rand_hc"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3190ef7066a446f2e7f42e239d161e905420ccab01eb967c9eb27d21b2322a73"
|
||||
dependencies = [
|
||||
"rand_core",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rawpointer"
|
||||
version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
|
||||
|
||||
[[package]]
|
||||
name = "rayon"
|
||||
version = "1.5.0"
|
||||
|
|
@ -820,9 +958,9 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
|||
|
||||
[[package]]
|
||||
name = "serde"
|
||||
version = "1.0.120"
|
||||
version = "1.0.123"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "166b2349061381baf54a58e4b13c89369feb0ef2eaa57198899e2312aac30aab"
|
||||
checksum = "92d5161132722baa40d802cc70b15262b98258453e85e5d1d365c757c73869ae"
|
||||
dependencies = [
|
||||
"serde_derive",
|
||||
]
|
||||
|
|
@ -859,9 +997,9 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "serde_derive"
|
||||
version = "1.0.120"
|
||||
version = "1.0.123"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0ca2a8cb5805ce9e3b95435e3765b7b553cecc762d938d409434338386cb5775"
|
||||
checksum = "9391c295d64fc0abb2c556bad848f33cb8296276b1ad2677d1ae1ace4f258f31"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
|
|
@ -890,23 +1028,13 @@ dependencies = [
|
|||
"managed",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "smoltcp-nal"
|
||||
version = "0.1.0"
|
||||
source = "git+https://github.com/vertigo-designs/smoltcp-nal.git?branch=main#6a656dd78c5f7543475e95c0eaf81def95fc5a10"
|
||||
dependencies = [
|
||||
"embedded-nal",
|
||||
"heapless",
|
||||
"smoltcp",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "stabilizer"
|
||||
version = "0.4.1"
|
||||
dependencies = [
|
||||
"ad9959",
|
||||
"asm-delay",
|
||||
"cortex-m",
|
||||
"cortex-m 0.6.7",
|
||||
"cortex-m-log",
|
||||
"cortex-m-rt",
|
||||
"cortex-m-rtic",
|
||||
|
|
@ -922,7 +1050,7 @@ dependencies = [
|
|||
"panic-semihosting",
|
||||
"paste",
|
||||
"serde",
|
||||
"smoltcp-nal",
|
||||
"smoltcp",
|
||||
"stm32h7xx-hal",
|
||||
]
|
||||
|
||||
|
|
@ -939,7 +1067,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "7571f17d1ed7d67957d0004de6c52bd1ef5e736ed5ddc2bcecf001512269f77c"
|
||||
dependencies = [
|
||||
"bare-metal 0.2.5",
|
||||
"cortex-m",
|
||||
"cortex-m 0.6.7",
|
||||
"cortex-m-rt",
|
||||
"vcell",
|
||||
]
|
||||
|
|
@ -951,7 +1079,7 @@ source = "git+https://github.com/quartiq/stm32h7xx-hal?branch=rs/smoltcp-update#
|
|||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"cast",
|
||||
"cortex-m",
|
||||
"cortex-m 0.6.7",
|
||||
"cortex-m-rt",
|
||||
"embedded-dma",
|
||||
"embedded-hal",
|
||||
|
|
@ -964,9 +1092,9 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.58"
|
||||
version = "1.0.60"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "cc60a3d73ea6594cd712d830cc1f0390fd71542d8c8cd24e70cc54cdfd5e05d5"
|
||||
checksum = "c700597eca8a5a762beb35753ef6b94df201c81cca676604f547495a0d7f0081"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
|
|
@ -1048,13 +1176,19 @@ dependencies = [
|
|||
"winapi-util",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasi"
|
||||
version = "0.10.2+wasi-snapshot-preview1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "fd6fbd9a79829dd1ad0cc20627bf1ed606756a7f77edff7b66b7064f9cb327c6"
|
||||
|
||||
[[package]]
|
||||
name = "wasm-bindgen"
|
||||
version = "0.2.69"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3cd364751395ca0f68cafb17666eee36b63077fb5ecd972bbcd74c90c4bf736e"
|
||||
dependencies = [
|
||||
"cfg-if 1.0.0",
|
||||
"cfg-if",
|
||||
"wasm-bindgen-macro",
|
||||
]
|
||||
|
||||
|
|
|
|||
|
|
@ -30,7 +30,7 @@ members = ["ad9959", "dsp"]
|
|||
[dependencies]
|
||||
cortex-m = { version = "0.6", features = ["const-fn"] }
|
||||
cortex-m-rt = { version = "0.6", features = ["device"] }
|
||||
cortex-m-log = { version = "0.6", features = ["log-integration"] }
|
||||
cortex-m-log = { version = "0.7", features = ["log-integration"] }
|
||||
log = "0.4"
|
||||
panic-semihosting = { version = "0.5", optional = true }
|
||||
panic-halt = "0.2"
|
||||
|
|
@ -52,9 +52,10 @@ branch = "feature/mqtt-interface"
|
|||
[dependencies.mcp23017]
|
||||
git = "https://github.com/mrd0ll4r/mcp23017.git"
|
||||
|
||||
[dependencies.smoltcp-nal]
|
||||
git = "https://github.com/vertigo-designs/smoltcp-nal.git"
|
||||
branch = "main"
|
||||
[dependencies.smoltcp]
|
||||
version = "0.7"
|
||||
features = ["ethernet", "proto-ipv4", "socket-tcp", "proto-ipv6"]
|
||||
default-features = false
|
||||
|
||||
[dependencies.stm32h7xx-hal]
|
||||
features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
|
||||
|
|
|
|||
|
|
@ -0,0 +1,3 @@
|
|||
[default.general]
|
||||
chip = "STM32H743ZITx"
|
||||
connect_under_reset = true
|
||||
15
README.md
15
README.md
|
|
@ -22,7 +22,7 @@
|
|||
## Limitations/TODOs
|
||||
|
||||
* Fixed AFE gains
|
||||
* The IP and MAC address are [hardcoded](src/main.rs)
|
||||
* The IP and MAC address are [hardcoded](src/hardware/configuration.rs)
|
||||
* Expose configurable limits
|
||||
* 100Base-T only
|
||||
* Digital IO, GPIO header, AFE header, EEM header are not handled
|
||||
|
|
@ -40,6 +40,11 @@ See https://github.com/sinara-hw/Stabilizer
|
|||
* `cargo build --release`
|
||||
* Do not try the debug (default) mode. It is guaranteed to panic.
|
||||
|
||||
### Using Cargo-embed
|
||||
|
||||
* Install `cargo-embed`: `cargo install cargo-embed`
|
||||
* Program the device: `cargo embed --bin dual-iir --release`
|
||||
|
||||
### Using GDB/OpenOCD
|
||||
|
||||
* Get a recent openocd, a JTAG adapter ("st-link" or some clone) and
|
||||
|
|
@ -64,14 +69,14 @@ See https://github.com/sinara-hw/Stabilizer
|
|||
* Install the DFU USB tool (`dfu-util`)
|
||||
* Connect to the Micro USB connector below the RJ45
|
||||
* Short JC2/BOOT
|
||||
* `cargo objcopy --release --bin stabilizer -- -O binary stabilizer.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/stabilizer stabilizer.bin`
|
||||
* `dfu-util -a 0 -s 0x08000000:leave -D stabilizer.bin`
|
||||
* `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
|
||||
|
||||
* `cargo objcopy --release --bin stabilizer -- -O binary stabilizer.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/stabilizer stabilizer.bin`
|
||||
* `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 `stabilizer.bin` to the `NODE_H743ZI` USB disk
|
||||
* copy `dual-iir.bin` to the `NODE_H743ZI` USB disk
|
||||
|
||||
## Protocol
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
"0ysy8fg6kbblhmjyavq6pg77n21fcygwc0hvidmg2yywkhgdi348"
|
||||
|
|
@ -1 +0,0 @@
|
|||
"0mrnm74wd5c1cl3av8iqndg6xrm07vs862882m59pjnrgy3z2zqj"
|
||||
|
|
@ -15,9 +15,11 @@ branch = "feature/mqtt-interface"
|
|||
|
||||
[dev-dependencies]
|
||||
criterion = "0.3"
|
||||
rand = "0.8"
|
||||
ndarray = "0.14"
|
||||
|
||||
[[bench]]
|
||||
name = "trig"
|
||||
name = "micro"
|
||||
harness = false
|
||||
|
||||
[features]
|
||||
|
|
|
|||
|
|
@ -0,0 +1,70 @@
|
|||
use core::f32::consts::PI;
|
||||
use criterion::{black_box, criterion_group, criterion_main, Criterion};
|
||||
use dsp::{atan2, cossin};
|
||||
use dsp::{iir, iir_int};
|
||||
use dsp::{pll::PLL, rpll::RPLL};
|
||||
|
||||
fn atan2_bench(c: &mut Criterion) {
|
||||
let xi = (10 << 16) as i32;
|
||||
let xf = xi as f32 / i32::MAX as f32;
|
||||
|
||||
let yi = (-26_328 << 16) as i32;
|
||||
let yf = yi as f32 / i32::MAX as f32;
|
||||
|
||||
c.bench_function("atan2(y, x)", |b| {
|
||||
b.iter(|| atan2(black_box(yi), black_box(xi)))
|
||||
});
|
||||
c.bench_function("y.atan2(x)", |b| {
|
||||
b.iter(|| black_box(yf).atan2(black_box(xf)))
|
||||
});
|
||||
}
|
||||
|
||||
fn cossin_bench(c: &mut Criterion) {
|
||||
let zi = -0x7304_2531_i32;
|
||||
let zf = zi as f32 / i32::MAX as f32 * PI;
|
||||
c.bench_function("cossin(zi)", |b| b.iter(|| cossin(black_box(zi))));
|
||||
c.bench_function("zf.sin_cos()", |b| b.iter(|| black_box(zf).sin_cos()));
|
||||
}
|
||||
|
||||
fn rpll_bench(c: &mut Criterion) {
|
||||
let mut dut = RPLL::new(8);
|
||||
c.bench_function("RPLL::update(Some(t), 21, 20)", |b| {
|
||||
b.iter(|| dut.update(black_box(Some(0x241)), 21, 20))
|
||||
});
|
||||
c.bench_function("RPLL::update(Some(t), sf, sp)", |b| {
|
||||
b.iter(|| {
|
||||
dut.update(black_box(Some(0x241)), black_box(21), black_box(20))
|
||||
})
|
||||
});
|
||||
}
|
||||
|
||||
fn pll_bench(c: &mut Criterion) {
|
||||
let mut dut = PLL::default();
|
||||
c.bench_function("PLL::update(t, 12, 11)", |b| {
|
||||
b.iter(|| dut.update(black_box(0x1234), 12, 1))
|
||||
});
|
||||
c.bench_function("PLL::update(t, sf, sp)", |b| {
|
||||
b.iter(|| dut.update(black_box(0x241), black_box(21), black_box(20)))
|
||||
});
|
||||
}
|
||||
|
||||
fn iir_int_bench(c: &mut Criterion) {
|
||||
let dut = iir_int::IIR::default();
|
||||
let mut xy = iir_int::Vec5::default();
|
||||
c.bench_function("int_iir::IIR::update(s, x)", |b| {
|
||||
b.iter(|| dut.update(&mut xy, black_box(0x2832)))
|
||||
});
|
||||
}
|
||||
|
||||
fn iir_bench(c: &mut Criterion) {
|
||||
let dut = iir::IIR::default();
|
||||
let mut xy = iir::Vec5::default();
|
||||
c.bench_function("int::IIR::update(s, x)", |b| {
|
||||
b.iter(|| dut.update(&mut xy, black_box(0.32241)))
|
||||
});
|
||||
}
|
||||
|
||||
criterion_group!(trig, atan2_bench, cossin_bench);
|
||||
criterion_group!(pll, rpll_bench, pll_bench);
|
||||
criterion_group!(iir, iir_int_bench, iir_bench);
|
||||
criterion_main!(trig, pll, iir);
|
||||
|
|
@ -1,28 +0,0 @@
|
|||
use core::f32::consts::PI;
|
||||
use criterion::{black_box, criterion_group, criterion_main, Criterion};
|
||||
use dsp::{atan2, cossin};
|
||||
|
||||
fn atan2_bench(c: &mut Criterion) {
|
||||
let xi = (10 << 16) as i32;
|
||||
let xf = xi as f32 / i32::MAX as f32;
|
||||
|
||||
let yi = (-26_328 << 16) as i32;
|
||||
let yf = yi as f32 / i32::MAX as f32;
|
||||
|
||||
c.bench_function("atan2(y, x)", |b| {
|
||||
b.iter(|| atan2(black_box(yi), black_box(xi)))
|
||||
});
|
||||
c.bench_function("y.atan2(x)", |b| {
|
||||
b.iter(|| black_box(yf).atan2(black_box(xf)))
|
||||
});
|
||||
}
|
||||
|
||||
fn cossin_bench(c: &mut Criterion) {
|
||||
let zi = -0x7304_2531_i32;
|
||||
let zf = zi as f32 / i32::MAX as f32 * PI;
|
||||
c.bench_function("cossin(zi)", |b| b.iter(|| cossin(black_box(zi))));
|
||||
c.bench_function("zf.sin_cos()", |b| b.iter(|| black_box(zf).sin_cos()));
|
||||
}
|
||||
|
||||
criterion_group!(benches, atan2_bench, cossin_bench);
|
||||
criterion_main!(benches);
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
#[derive(Copy, Clone, Default, PartialEq, Debug)]
|
||||
pub struct Accu {
|
||||
state: i32,
|
||||
step: i32,
|
||||
}
|
||||
|
||||
impl Accu {
|
||||
pub fn new(state: i32, step: i32) -> Self {
|
||||
Self { state, step }
|
||||
}
|
||||
}
|
||||
|
||||
impl Iterator for Accu {
|
||||
type Item = i32;
|
||||
fn next(&mut self) -> Option<i32> {
|
||||
let s = self.state;
|
||||
self.state = self.state.wrapping_add(self.step);
|
||||
Some(s)
|
||||
}
|
||||
}
|
||||
|
|
@ -1,17 +1,57 @@
|
|||
use super::atan2;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use super::{atan2, cossin};
|
||||
|
||||
#[derive(Copy, Clone, Default, Deserialize, Serialize)]
|
||||
#[derive(Copy, Clone, Default, PartialEq, Debug)]
|
||||
pub struct Complex<T>(pub T, pub T);
|
||||
|
||||
impl Complex<i32> {
|
||||
pub fn power(&self) -> i32 {
|
||||
(((self.0 as i64) * (self.0 as i64)
|
||||
+ (self.1 as i64) * (self.1 as i64))
|
||||
>> 32) as i32
|
||||
/// Return a Complex on the unit circle given an angle.
|
||||
///
|
||||
/// Example:
|
||||
///
|
||||
/// ```
|
||||
/// use dsp::Complex;
|
||||
/// Complex::<i32>::from_angle(0);
|
||||
/// Complex::<i32>::from_angle(1 << 30); // pi/2
|
||||
/// Complex::<i32>::from_angle(-1 << 30); // -pi/2
|
||||
/// ```
|
||||
pub fn from_angle(angle: i32) -> Self {
|
||||
let (c, s) = cossin(angle);
|
||||
Self(c, s)
|
||||
}
|
||||
|
||||
pub fn phase(&self) -> i32 {
|
||||
/// Return the absolute square (the squared magnitude).
|
||||
///
|
||||
/// Note: Normalization is `1 << 31`, i.e. Q0.31.
|
||||
///
|
||||
/// Example:
|
||||
///
|
||||
/// ```
|
||||
/// use dsp::Complex;
|
||||
/// assert_eq!(Complex(i32::MAX, 0).abs_sqr(), i32::MAX - 1);
|
||||
/// assert_eq!(Complex(i32::MIN + 1, 0).abs_sqr(), i32::MAX - 1);
|
||||
/// ```
|
||||
pub fn abs_sqr(&self) -> i32 {
|
||||
(((self.0 as i64) * (self.0 as i64)
|
||||
+ (self.1 as i64) * (self.1 as i64))
|
||||
>> 31) as i32
|
||||
}
|
||||
|
||||
/// Return the angle.
|
||||
///
|
||||
/// Note: Normalization is `1 << 31 == pi`.
|
||||
///
|
||||
/// Example:
|
||||
///
|
||||
/// ```
|
||||
/// use dsp::Complex;
|
||||
/// assert_eq!(Complex(i32::MAX, 0).arg(), 0);
|
||||
/// assert_eq!(Complex(-i32::MAX, 1).arg(), i32::MAX);
|
||||
/// assert_eq!(Complex(-i32::MAX, -1).arg(), -i32::MAX);
|
||||
/// assert_eq!(Complex(0, -i32::MAX).arg(), -i32::MAX >> 1);
|
||||
/// assert_eq!(Complex(0, i32::MAX).arg(), (i32::MAX >> 1) + 1);
|
||||
/// assert_eq!(Complex(i32::MAX, i32::MAX).arg(), (i32::MAX >> 2) + 1);
|
||||
/// ```
|
||||
pub fn arg(&self) -> i32 {
|
||||
atan2(self.1, self.0)
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,4 +1,3 @@
|
|||
use super::Complex;
|
||||
use core::f64::consts::PI;
|
||||
|
||||
include!(concat!(env!("OUT_DIR"), "/cossin_table.rs"));
|
||||
|
|
@ -11,10 +10,10 @@ include!(concat!(env!("OUT_DIR"), "/cossin_table.rs"));
|
|||
/// * `phase` - 32-bit phase.
|
||||
///
|
||||
/// # Returns
|
||||
/// The cos and sin values of the provided phase as a `Complex<i32>`
|
||||
/// value. With a 7-bit deep LUT there is 1e-5 max and 6e-8 RMS error
|
||||
/// The cos and sin values of the provided phase as a `(i32, i32)`
|
||||
/// tuple. With a 7-bit deep LUT there is 1e-5 max and 6e-8 RMS error
|
||||
/// in each quadrature over 20 bit phase.
|
||||
pub fn cossin(phase: i32) -> Complex<i32> {
|
||||
pub fn cossin(phase: i32) -> (i32, i32) {
|
||||
// Phase bits excluding the three highes MSB
|
||||
const OCTANT_BITS: usize = 32 - 3;
|
||||
|
||||
|
|
@ -69,12 +68,13 @@ pub fn cossin(phase: i32) -> Complex<i32> {
|
|||
sin *= -1;
|
||||
}
|
||||
|
||||
Complex(cos, sin)
|
||||
(cos, sin)
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use crate::Complex;
|
||||
use core::f64::consts::PI;
|
||||
|
||||
#[test]
|
||||
|
|
|
|||
|
|
@ -3,8 +3,6 @@ use serde::{Deserialize, Serialize};
|
|||
use super::{abs, copysign, macc, max, min};
|
||||
use core::f32;
|
||||
|
||||
use miniconf::StringSet;
|
||||
|
||||
/// IIR state and coefficients type.
|
||||
///
|
||||
/// To represent the IIR state (input and output memory) during the filter update
|
||||
|
|
@ -13,7 +11,8 @@ use miniconf::StringSet;
|
|||
/// To represent the IIR coefficients, this contains the feed-forward
|
||||
/// coefficients (b0, b1, b2) followd by the negated feed-back coefficients
|
||||
/// (-a1, -a2), all five normalized such that a0 = 1.
|
||||
pub type IIRState = [f32; 5];
|
||||
#[derive(Copy, Clone, Default, Deserialize, Serialize)]
|
||||
pub struct Vec5(pub [f32; 5]);
|
||||
|
||||
/// IIR configuration.
|
||||
///
|
||||
|
|
@ -40,15 +39,24 @@ pub type IIRState = [f32; 5];
|
|||
/// Therefore it can trivially implement bump-less transfer.
|
||||
/// * Cascading multiple IIR filters allows stable and robust
|
||||
/// implementation of transfer functions beyond bequadratic terms.
|
||||
#[derive(Copy, Clone, Debug, Default, Deserialize, Serialize, StringSet)]
|
||||
#[derive(Copy, Clone, Default, Deserialize, Serialize)]
|
||||
pub struct IIR {
|
||||
pub ba: IIRState,
|
||||
pub ba: Vec5,
|
||||
pub y_offset: f32,
|
||||
pub y_min: f32,
|
||||
pub y_max: f32,
|
||||
}
|
||||
|
||||
impl IIR {
|
||||
pub const fn new(gain: f32, y_min: f32, y_max: f32) -> Self {
|
||||
Self {
|
||||
ba: Vec5([gain, 0., 0., 0., 0.]),
|
||||
y_offset: 0.,
|
||||
y_min,
|
||||
y_max,
|
||||
}
|
||||
}
|
||||
|
||||
/// Configures IIR filter coefficients for proportional-integral behavior
|
||||
/// with gain limit.
|
||||
///
|
||||
|
|
@ -76,13 +84,13 @@ impl IIR {
|
|||
}
|
||||
(a1, b0, b1)
|
||||
};
|
||||
self.ba.copy_from_slice(&[b0, b1, 0., a1, 0.]);
|
||||
self.ba.0.copy_from_slice(&[b0, b1, 0., a1, 0.]);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// Compute the overall (DC feed-forward) gain.
|
||||
pub fn get_k(&self) -> f32 {
|
||||
self.ba[..3].iter().sum()
|
||||
self.ba.0[..3].iter().sum()
|
||||
}
|
||||
|
||||
/// Compute input-referred (`x`) offset from output (`y`) offset.
|
||||
|
|
@ -109,22 +117,22 @@ impl IIR {
|
|||
/// # Arguments
|
||||
/// * `xy` - Current filter state.
|
||||
/// * `x0` - New input.
|
||||
pub fn update(&self, xy: &mut IIRState, x0: f32) -> f32 {
|
||||
let n = self.ba.len();
|
||||
debug_assert!(xy.len() == n);
|
||||
pub fn update(&self, xy: &mut Vec5, x0: f32) -> f32 {
|
||||
let n = self.ba.0.len();
|
||||
debug_assert!(xy.0.len() == n);
|
||||
// `xy` contains x0 x1 y0 y1 y2
|
||||
// Increment time x1 x2 y1 y2 y3
|
||||
// Shift x1 x1 x2 y1 y2
|
||||
// This unrolls better than xy.rotate_right(1)
|
||||
xy.copy_within(0..n - 1, 1);
|
||||
xy.0.copy_within(0..n - 1, 1);
|
||||
// Store x0 x0 x1 x2 y1 y2
|
||||
xy[0] = x0;
|
||||
xy.0[0] = x0;
|
||||
// Compute y0 by multiply-accumulate
|
||||
let y0 = macc(self.y_offset, xy, &self.ba);
|
||||
let y0 = macc(self.y_offset, &xy.0, &self.ba.0);
|
||||
// Limit y0
|
||||
let y0 = max(self.y_min, min(self.y_max, y0));
|
||||
// Store y0 x0 x1 y0 y1 y2
|
||||
xy[n / 2] = y0;
|
||||
xy.0[n / 2] = y0;
|
||||
y0
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -5,9 +5,9 @@ use serde::{Deserialize, Serialize};
|
|||
/// This struct is used to hold the x/y input/output data vector or the b/a coefficient
|
||||
/// vector.
|
||||
#[derive(Copy, Clone, Default, Deserialize, Serialize)]
|
||||
pub struct IIRState(pub [i32; 5]);
|
||||
pub struct Vec5(pub [i32; 5]);
|
||||
|
||||
impl IIRState {
|
||||
impl Vec5 {
|
||||
/// Lowpass biquad filter using cutoff and sampling frequencies. Taken from:
|
||||
/// https://webaudio.github.io/Audio-EQ-Cookbook/audio-eq-cookbook.html
|
||||
///
|
||||
|
|
@ -19,11 +19,12 @@ impl IIRState {
|
|||
///
|
||||
/// # Returns
|
||||
/// 2nd-order IIR filter coefficients in the form [b0,b1,b2,a1,a2]. a0 is set to -1.
|
||||
pub fn lowpass(f: f32, q: f32, k: f32) -> IIRState {
|
||||
pub fn lowpass(f: f32, q: f32, k: f32) -> Self {
|
||||
// 3rd order Taylor approximation of sin and cos.
|
||||
let f = f * 2. * PI;
|
||||
let fsin = f - f * f * f / 6.;
|
||||
let fcos = 1. - f * f / 2.;
|
||||
let f2 = f * f * 0.5;
|
||||
let fcos = 1. - f2;
|
||||
let fsin = f * (1. - f2 / 3.);
|
||||
let alpha = fsin / (2. * q);
|
||||
// IIR uses Q2.30 fixed point
|
||||
let a0 = (1. + alpha) / (1 << IIR::SHIFT) as f32;
|
||||
|
|
@ -31,7 +32,7 @@ impl IIRState {
|
|||
let a1 = (2. * fcos / a0) as _;
|
||||
let a2 = ((alpha - 1.) / a0) as _;
|
||||
|
||||
IIRState([b0, 2 * b0, b0, a1, a2])
|
||||
Self([b0, 2 * b0, b0, a1, a2])
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -53,7 +54,7 @@ fn macc(y0: i32, x: &[i32], a: &[i32], shift: u32) -> i32 {
|
|||
/// Coefficient scaling fixed and optimized.
|
||||
#[derive(Copy, Clone, Default, Deserialize, Serialize)]
|
||||
pub struct IIR {
|
||||
pub ba: IIRState,
|
||||
pub ba: Vec5,
|
||||
// pub y_offset: i32,
|
||||
// pub y_min: i32,
|
||||
// pub y_max: i32,
|
||||
|
|
@ -70,7 +71,7 @@ impl IIR {
|
|||
/// # Arguments
|
||||
/// * `xy` - Current filter state.
|
||||
/// * `x0` - New input.
|
||||
pub fn update(&self, xy: &mut IIRState, x0: i32) -> i32 {
|
||||
pub fn update(&self, xy: &mut Vec5, x0: i32) -> i32 {
|
||||
let n = self.ba.0.len();
|
||||
debug_assert!(xy.0.len() == n);
|
||||
// `xy` contains x0 x1 y0 y1 y2
|
||||
|
|
@ -92,11 +93,11 @@ impl IIR {
|
|||
|
||||
#[cfg(test)]
|
||||
mod test {
|
||||
use super::IIRState;
|
||||
use super::Vec5;
|
||||
|
||||
#[test]
|
||||
fn lowpass_gen() {
|
||||
let ba = IIRState::lowpass(1e-3, 1. / 2f32.sqrt(), 2.);
|
||||
let ba = Vec5::lowpass(1e-3, 1. / 2f32.sqrt(), 2.);
|
||||
println!("{:?}", ba.0);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -3,38 +3,6 @@
|
|||
|
||||
use core::ops::{Add, Mul, Neg};
|
||||
|
||||
/// Bit shift, round up half.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// `x` - Value to shift and round.
|
||||
/// `shift` - Number of bits to right shift `x`.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// Shifted and rounded value.
|
||||
#[inline(always)]
|
||||
pub fn shift_round(x: i32, shift: usize) -> i32 {
|
||||
(x + (1 << (shift - 1))) >> shift
|
||||
}
|
||||
|
||||
/// Integer division, round up half.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// `dividend` - Value to divide.
|
||||
/// `divisor` - Value that divides the
|
||||
/// dividend. `dividend`+`divisor`-1 must be inside [i64::MIN,
|
||||
/// i64::MAX].
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// Divided and rounded value.
|
||||
#[inline(always)]
|
||||
pub fn divide_round(dividend: i64, divisor: i64) -> i64 {
|
||||
(dividend + (divisor - 1)) / divisor
|
||||
}
|
||||
|
||||
fn abs<T>(x: T) -> T
|
||||
where
|
||||
T: PartialOrd + Default + Neg<Output = T>,
|
||||
|
|
@ -112,6 +80,7 @@ where
|
|||
.fold(y0, |y, xa| y + xa)
|
||||
}
|
||||
|
||||
pub mod accu;
|
||||
mod atan2;
|
||||
mod complex;
|
||||
mod cossin;
|
||||
|
|
@ -122,6 +91,7 @@ pub mod pll;
|
|||
pub mod rpll;
|
||||
pub mod unwrap;
|
||||
|
||||
pub use accu::Accu;
|
||||
pub use atan2::atan2;
|
||||
pub use complex::Complex;
|
||||
pub use cossin::cossin;
|
||||
|
|
|
|||
|
|
@ -1,160 +1,41 @@
|
|||
use super::{cossin, iir_int, Complex};
|
||||
use super::{
|
||||
iir_int::{Vec5, IIR},
|
||||
Complex,
|
||||
};
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
#[derive(Copy, Clone, Default, Deserialize, Serialize)]
|
||||
pub struct Lockin {
|
||||
iir: iir_int::IIR,
|
||||
iir_state: [iir_int::IIRState; 2],
|
||||
iir: IIR,
|
||||
state: [Vec5; 2],
|
||||
}
|
||||
|
||||
impl Lockin {
|
||||
pub fn new(ba: &iir_int::IIRState) -> Self {
|
||||
let mut iir = iir_int::IIR::default();
|
||||
iir.ba.0.copy_from_slice(&ba.0);
|
||||
Lockin {
|
||||
iir,
|
||||
iir_state: [iir_int::IIRState::default(); 2],
|
||||
/// Create a new Lockin with given IIR coefficients.
|
||||
pub fn new(ba: Vec5) -> Self {
|
||||
Self {
|
||||
iir: IIR { ba },
|
||||
state: [Vec5::default(); 2],
|
||||
}
|
||||
}
|
||||
|
||||
pub fn update(&mut self, signal: i32, phase: i32) -> Complex<i32> {
|
||||
/// Update the lockin with a sample taken at a given phase.
|
||||
pub fn update(&mut self, sample: i32, phase: i32) -> Complex<i32> {
|
||||
// Get the LO signal for demodulation.
|
||||
let m = cossin(phase);
|
||||
let lo = Complex::from_angle(phase);
|
||||
|
||||
// Mix with the LO signal, filter with the IIR lowpass,
|
||||
// return IQ (in-phase and quadrature) data.
|
||||
// Note: 32x32 -> 64 bit multiplications are pretty much free.
|
||||
Complex(
|
||||
self.iir.update(
|
||||
&mut self.iir_state[0],
|
||||
((signal as i64 * m.0 as i64) >> 32) as _,
|
||||
&mut self.state[0],
|
||||
((sample as i64 * lo.0 as i64) >> 32) as _,
|
||||
),
|
||||
self.iir.update(
|
||||
&mut self.iir_state[1],
|
||||
((signal as i64 * m.1 as i64) >> 32) as _,
|
||||
&mut self.state[1],
|
||||
((sample as i64 * lo.1 as i64) >> 32) as _,
|
||||
),
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod test {
|
||||
use crate::{
|
||||
atan2,
|
||||
iir_int::IIRState,
|
||||
lockin::Lockin,
|
||||
rpll::RPLL,
|
||||
testing::{isclose, max_error},
|
||||
Complex,
|
||||
};
|
||||
|
||||
use std::f64::consts::PI;
|
||||
use std::vec::Vec;
|
||||
|
||||
/// ADC full scale in machine units (16 bit signed).
|
||||
const ADC_SCALE: f64 = ((1 << 15) - 1) as _;
|
||||
|
||||
struct PllLockin {
|
||||
harmonic: i32,
|
||||
phase: i32,
|
||||
lockin: Lockin,
|
||||
}
|
||||
|
||||
impl PllLockin {
|
||||
pub fn new(harmonic: i32, phase: i32, iir: &IIRState) -> Self {
|
||||
PllLockin {
|
||||
harmonic,
|
||||
phase,
|
||||
lockin: Lockin::new(iir),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn update(
|
||||
&mut self,
|
||||
input: Vec<i16>,
|
||||
phase: i32,
|
||||
frequency: i32,
|
||||
) -> Complex<i32> {
|
||||
let sample_frequency = frequency.wrapping_mul(self.harmonic);
|
||||
let mut sample_phase =
|
||||
self.phase.wrapping_add(phase.wrapping_mul(self.harmonic));
|
||||
input
|
||||
.iter()
|
||||
.map(|&s| {
|
||||
let input = (s as i32) << 16;
|
||||
let signal =
|
||||
self.lockin.update(input, sample_phase.wrapping_neg());
|
||||
sample_phase = sample_phase.wrapping_add(sample_frequency);
|
||||
signal
|
||||
})
|
||||
.last()
|
||||
.unwrap_or(Complex::default())
|
||||
}
|
||||
}
|
||||
|
||||
/// Single-frequency sinusoid.
|
||||
#[derive(Copy, Clone)]
|
||||
struct Tone {
|
||||
// Frequency (in Hz).
|
||||
frequency: f64,
|
||||
// Phase offset (in radians).
|
||||
phase: f64,
|
||||
// Amplitude in dBFS (decibels relative to full-scale).
|
||||
// A 16-bit ADC has a minimum dBFS for each sample of -90.
|
||||
amplitude_dbfs: f64,
|
||||
}
|
||||
|
||||
/// Convert dBFS to a linear ratio.
|
||||
fn linear(dbfs: f64) -> f64 {
|
||||
10f64.powf(dbfs / 20.)
|
||||
}
|
||||
|
||||
impl Tone {
|
||||
fn eval(&self, time: f64) -> f64 {
|
||||
linear(self.amplitude_dbfs)
|
||||
* (self.phase + self.frequency * time).cos()
|
||||
}
|
||||
}
|
||||
|
||||
/// Generate a full batch of samples with size `sample_buffer_size` starting at `time_offset`.
|
||||
fn sample_tones(
|
||||
tones: &Vec<Tone>,
|
||||
time_offset: f64,
|
||||
sample_buffer_size: u32,
|
||||
) -> Vec<i16> {
|
||||
(0..sample_buffer_size)
|
||||
.map(|i| {
|
||||
let time = 2. * PI * (time_offset + i as f64);
|
||||
let x: f64 = tones.iter().map(|t| t.eval(time)).sum();
|
||||
assert!(-1. < x && x < 1.);
|
||||
(x * ADC_SCALE) as i16
|
||||
})
|
||||
.collect()
|
||||
}
|
||||
|
||||
/// Total maximum noise amplitude of the input signal after 2nd order lowpass filter.
|
||||
/// Constructive interference is assumed.
|
||||
///
|
||||
/// # Args
|
||||
/// * `tones` - Noise sources at the ADC input.
|
||||
/// * `frequency` - Frequency of the signal of interest.
|
||||
/// * `corner` - Low-pass filter 3dB corner cutoff frequency.
|
||||
///
|
||||
/// # Returns
|
||||
/// Upper bound of the total amplitude of all noise sources in linear units full scale.
|
||||
fn sampled_noise_amplitude(
|
||||
tones: &Vec<Tone>,
|
||||
frequency: f64,
|
||||
corner: f64,
|
||||
) -> f64 {
|
||||
tones
|
||||
.iter()
|
||||
.map(|t| {
|
||||
let df = (t.frequency - frequency) / corner;
|
||||
// Assuming a 2nd order lowpass filter: 40dB/decade.
|
||||
linear(t.amplitude_dbfs - 40. * df.abs().max(1.).log10())
|
||||
})
|
||||
.sum::<f64>()
|
||||
.max(1. / ADC_SCALE / 2.) // 1/2 LSB from quantization
|
||||
}
|
||||
}
|
||||
|
|
|
|||
233
dsp/src/rpll.rs
233
dsp/src/rpll.rs
|
|
@ -3,13 +3,14 @@
|
|||
/// Consumes noisy, quantized timestamps of a reference signal and reconstructs
|
||||
/// the phase and frequency of the update() invocations with respect to (and in units of
|
||||
/// 1 << 32 of) that reference.
|
||||
/// In other words, `update()` rate ralative to reference frequency,
|
||||
/// `u32::MAX` corresponding to both being equal.
|
||||
#[derive(Copy, Clone, Default)]
|
||||
pub struct RPLL {
|
||||
dt2: u8, // 1 << dt2 is the counter rate to update() rate ratio
|
||||
t: i32, // current counter time
|
||||
x: i32, // previous timestamp
|
||||
ff: i32, // current frequency estimate from frequency loop
|
||||
f: i32, // current frequency estimate from both frequency and phase loop
|
||||
ff: u32, // current frequency estimate from frequency loop
|
||||
f: u32, // current frequency estimate from both frequency and phase loop
|
||||
y: i32, // current phase estimate
|
||||
}
|
||||
|
||||
|
|
@ -18,14 +19,12 @@ impl RPLL {
|
|||
///
|
||||
/// Args:
|
||||
/// * dt2: inverse update() rate. 1 << dt2 is the counter rate to update() rate ratio.
|
||||
/// * t: Counter time. Counter value at the first update() call. Typically 0.
|
||||
///
|
||||
/// Returns:
|
||||
/// Initialized RPLL instance.
|
||||
pub fn new(dt2: u8, t: i32) -> RPLL {
|
||||
RPLL {
|
||||
pub fn new(dt2: u8) -> Self {
|
||||
Self {
|
||||
dt2,
|
||||
t,
|
||||
..Default::default()
|
||||
}
|
||||
}
|
||||
|
|
@ -43,42 +42,230 @@ impl RPLL {
|
|||
///
|
||||
/// Returns:
|
||||
/// A tuple containing the current phase (wrapping at the i32 boundary, pi) and
|
||||
/// frequency (wrapping at the i32 boundary, Nyquist) estimate.
|
||||
/// frequency.
|
||||
pub fn update(
|
||||
&mut self,
|
||||
input: Option<i32>,
|
||||
shift_frequency: u8,
|
||||
shift_phase: u8,
|
||||
) -> (i32, i32) {
|
||||
debug_assert!(shift_frequency > self.dt2);
|
||||
debug_assert!(shift_phase > self.dt2);
|
||||
) -> (i32, u32) {
|
||||
debug_assert!(shift_frequency >= self.dt2);
|
||||
debug_assert!(shift_phase >= self.dt2);
|
||||
// Advance phase
|
||||
self.y = self.y.wrapping_add(self.f);
|
||||
self.y = self.y.wrapping_add(self.f as i32);
|
||||
if let Some(x) = input {
|
||||
// Reference period in counter cycles
|
||||
let dx = x.wrapping_sub(self.x);
|
||||
// Store timestamp for next time.
|
||||
self.x = x;
|
||||
// Phase using the current frequency estimate
|
||||
let p_sig_long = (self.ff as i64).wrapping_mul(dx as i64);
|
||||
let p_sig_64 = self.ff as u64 * dx as u64;
|
||||
// Add half-up rounding bias and apply gain/attenuation
|
||||
let p_sig = (p_sig_long.wrapping_add(1i64 << (shift_frequency - 1))
|
||||
>> shift_frequency) as i32;
|
||||
let p_sig = ((p_sig_64 + (1u32 << (shift_frequency - 1)) as u64)
|
||||
>> shift_frequency) as u32;
|
||||
// Reference phase (1 << dt2 full turns) with gain/attenuation applied
|
||||
let p_ref = 1i32 << (32 + self.dt2 - shift_frequency);
|
||||
let p_ref = 1u32 << (32 + self.dt2 - shift_frequency);
|
||||
// Update frequency lock
|
||||
self.ff = self.ff.wrapping_add(p_ref.wrapping_sub(p_sig));
|
||||
// Time in counter cycles between timestamp and "now"
|
||||
let dt = self.t.wrapping_sub(x);
|
||||
let dt = (x.wrapping_neg() & ((1 << self.dt2) - 1)) as u32;
|
||||
// Reference phase estimate "now"
|
||||
let y_ref = (self.f >> self.dt2).wrapping_mul(dt);
|
||||
// Phase error
|
||||
let dy = y_ref.wrapping_sub(self.y);
|
||||
let y_ref = (self.f >> self.dt2).wrapping_mul(dt) as i32;
|
||||
// Phase error with gain
|
||||
let dy = y_ref.wrapping_sub(self.y) >> (shift_phase - self.dt2);
|
||||
// Current frequency estimate from frequency lock and phase error
|
||||
self.f = self.ff.wrapping_add(dy >> (shift_phase - self.dt2));
|
||||
self.f = self.ff.wrapping_add(dy as u32);
|
||||
}
|
||||
// Advance time
|
||||
self.t = self.t.wrapping_add(1 << self.dt2);
|
||||
(self.y, self.f)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod test {
|
||||
use super::RPLL;
|
||||
use ndarray::prelude::*;
|
||||
use rand::{prelude::*, rngs::StdRng};
|
||||
use std::vec::Vec;
|
||||
|
||||
#[test]
|
||||
fn make() {
|
||||
let _ = RPLL::new(8);
|
||||
}
|
||||
|
||||
struct Harness {
|
||||
rpll: RPLL,
|
||||
dt2: u8,
|
||||
shift_frequency: u8,
|
||||
shift_phase: u8,
|
||||
noise: i32,
|
||||
period: i32,
|
||||
next: i32,
|
||||
next_noisy: i32,
|
||||
time: i32,
|
||||
rng: StdRng,
|
||||
}
|
||||
|
||||
impl Harness {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
rpll: RPLL::new(8),
|
||||
dt2: 8,
|
||||
shift_frequency: 9,
|
||||
shift_phase: 8,
|
||||
noise: 0,
|
||||
period: 333,
|
||||
next: 111,
|
||||
next_noisy: 111,
|
||||
time: 0,
|
||||
rng: StdRng::seed_from_u64(42),
|
||||
}
|
||||
}
|
||||
|
||||
fn run(&mut self, n: usize) -> (Vec<f32>, Vec<f32>) {
|
||||
assert!(self.period >= 1 << self.dt2);
|
||||
assert!(self.period < 1 << self.shift_frequency);
|
||||
assert!(self.period < 1 << self.shift_phase + 1);
|
||||
|
||||
let mut y = Vec::<f32>::new();
|
||||
let mut f = Vec::<f32>::new();
|
||||
for _ in 0..n {
|
||||
let timestamp = if self.time - self.next_noisy >= 0 {
|
||||
assert!(self.time - self.next_noisy < 1 << self.dt2);
|
||||
self.next = self.next.wrapping_add(self.period);
|
||||
let timestamp = self.next_noisy;
|
||||
let p_noise = self.rng.gen_range(-self.noise..=self.noise);
|
||||
self.next_noisy = self.next.wrapping_add(p_noise);
|
||||
Some(timestamp)
|
||||
} else {
|
||||
None
|
||||
};
|
||||
let (yi, fi) = self.rpll.update(
|
||||
timestamp,
|
||||
self.shift_frequency,
|
||||
self.shift_phase,
|
||||
);
|
||||
|
||||
let y_ref = (self.time.wrapping_sub(self.next) as i64
|
||||
* (1i64 << 32)
|
||||
/ self.period as i64) as i32;
|
||||
// phase error
|
||||
y.push(yi.wrapping_sub(y_ref) as f32 / 2f32.powi(32));
|
||||
|
||||
let p_ref = 1 << 32 + self.dt2;
|
||||
let p_sig = fi as u64 * self.period as u64;
|
||||
// relative frequency error
|
||||
f.push(
|
||||
p_sig.wrapping_sub(p_ref) as i64 as f32
|
||||
/ 2f32.powi(32 + self.dt2 as i32),
|
||||
);
|
||||
|
||||
// advance time
|
||||
self.time = self.time.wrapping_add(1 << self.dt2);
|
||||
}
|
||||
(y, f)
|
||||
}
|
||||
|
||||
fn measure(&mut self, n: usize, limits: [f32; 4]) {
|
||||
let t_settle = (1 << self.shift_frequency - self.dt2 + 4)
|
||||
+ (1 << self.shift_phase - self.dt2 + 4);
|
||||
self.run(t_settle);
|
||||
|
||||
let (y, f) = self.run(n);
|
||||
let y = Array::from(y);
|
||||
let f = Array::from(f);
|
||||
// println!("{:?} {:?}", f, y);
|
||||
|
||||
let fm = f.mean().unwrap();
|
||||
let fs = f.std_axis(Axis(0), 0.).into_scalar();
|
||||
let ym = y.mean().unwrap();
|
||||
let ys = y.std_axis(Axis(0), 0.).into_scalar();
|
||||
|
||||
println!("f: {:.2e}±{:.2e}; y: {:.2e}±{:.2e}", fm, fs, ym, ys);
|
||||
|
||||
let m = [fm, fs, ym, ys];
|
||||
|
||||
print!("relative: ");
|
||||
for i in 0..m.len() {
|
||||
let rel = m[i].abs() / limits[i].abs();
|
||||
print!("{:.2e} ", rel);
|
||||
assert!(
|
||||
rel <= 1.,
|
||||
"idx {}, have |{:.2e}| > limit {:.2e}",
|
||||
i,
|
||||
m[i],
|
||||
limits[i]
|
||||
);
|
||||
}
|
||||
println!();
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn default() {
|
||||
let mut h = Harness::default();
|
||||
|
||||
h.measure(1 << 16, [1e-11, 4e-8, 2e-8, 2e-8]);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn noisy() {
|
||||
let mut h = Harness::default();
|
||||
h.noise = 10;
|
||||
h.shift_frequency = 23;
|
||||
h.shift_phase = 22;
|
||||
|
||||
h.measure(1 << 16, [3e-9, 3e-6, 4e-4, 2e-4]);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn narrow_fast() {
|
||||
let mut h = Harness::default();
|
||||
h.period = 990;
|
||||
h.next = 351;
|
||||
h.next_noisy = h.next;
|
||||
h.noise = 5;
|
||||
h.shift_frequency = 23;
|
||||
h.shift_phase = 22;
|
||||
|
||||
h.measure(1 << 16, [2e-9, 2e-6, 1e-3, 1e-4]);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn narrow_slow() {
|
||||
let mut h = Harness::default();
|
||||
h.period = 1818181;
|
||||
h.next = 35281;
|
||||
h.next_noisy = h.next;
|
||||
h.noise = 1000;
|
||||
h.shift_frequency = 23;
|
||||
h.shift_phase = 22;
|
||||
|
||||
h.measure(1 << 16, [2e-5, 6e-4, 2e-4, 2e-4]);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn wide_fast() {
|
||||
let mut h = Harness::default();
|
||||
h.period = 990;
|
||||
h.next = 351;
|
||||
h.next_noisy = h.next;
|
||||
h.noise = 5;
|
||||
h.shift_frequency = 10;
|
||||
h.shift_phase = 9;
|
||||
|
||||
h.measure(1 << 16, [5e-7, 3e-2, 2e-5, 2e-2]);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn wide_slow() {
|
||||
let mut h = Harness::default();
|
||||
h.period = 1818181;
|
||||
h.next = 35281;
|
||||
h.next_noisy = h.next;
|
||||
h.noise = 1000;
|
||||
h.shift_frequency = 21;
|
||||
h.shift_phase = 20;
|
||||
|
||||
h.measure(1 << 16, [2e-4, 6e-3, 2e-4, 2e-3]);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -20,7 +20,7 @@ use hardware::{
|
|||
Adc0Input, Adc1Input, Dac0Output, Dac1Output, NetworkStack, AFE0, AFE1,
|
||||
};
|
||||
|
||||
const SCALE: f32 = ((1 << 15) - 1) as f32;
|
||||
const SCALE: f32 = i16::MAX as _;
|
||||
|
||||
// The number of cascaded IIR biquads per channel. Select 1 or 2!
|
||||
const IIR_CASCADE_LENGTH: usize = 1;
|
||||
|
|
@ -47,9 +47,9 @@ const APP: () = {
|
|||
mqtt_interface: MqttInterface<Settings, NetworkStack>,
|
||||
|
||||
// Format: iir_state[ch][cascade-no][coeff]
|
||||
#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
|
||||
iir_state: [[iir::IIRState; IIR_CASCADE_LENGTH]; 2],
|
||||
#[init([[iir::IIR { ba: [1., 0., 0., 0., 0.], y_offset: 0., y_min: -SCALE - 1., y_max: SCALE }; IIR_CASCADE_LENGTH]; 2])]
|
||||
#[init([[iir::Vec5([0.; 5]); IIR_CASCADE_LENGTH]; 2])]
|
||||
iir_state: [[iir::Vec5; IIR_CASCADE_LENGTH]; 2],
|
||||
#[init([[iir::IIR::new(1., -SCALE, SCALE); IIR_CASCADE_LENGTH]; 2])]
|
||||
iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -15,12 +15,12 @@ use miniconf::{
|
|||
};
|
||||
use serde::Deserialize;
|
||||
|
||||
use dsp::{iir, iir_int, lockin::Lockin, rpll::RPLL};
|
||||
use dsp::{iir, iir_int, lockin::Lockin, rpll::RPLL, Accu};
|
||||
use hardware::{
|
||||
Adc0Input, Adc1Input, Dac0Output, Dac1Output, InputStamper, AFE0, AFE1,
|
||||
};
|
||||
|
||||
const SCALE: f32 = ((1 << 15) - 1) as f32;
|
||||
const SCALE: f32 = i16::MAX as _;
|
||||
|
||||
// The number of cascaded IIR biquads per channel. Select 1 or 2!
|
||||
const IIR_CASCADE_LENGTH: usize = 1;
|
||||
|
|
@ -47,9 +47,9 @@ const APP: () = {
|
|||
mqtt_interface: MqttInterface<Settings, hardware::NetworkStack>,
|
||||
|
||||
// Format: iir_state[ch][cascade-no][coeff]
|
||||
#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
|
||||
iir_state: [[iir::IIRState; IIR_CASCADE_LENGTH]; 2],
|
||||
#[init([[iir::IIR { ba: [1., 0., 0., 0., 0.], y_offset: 0., y_min: -SCALE - 1., y_max: SCALE }; IIR_CASCADE_LENGTH]; 2])]
|
||||
#[init([[iir::Vec5([0.; 5]); IIR_CASCADE_LENGTH]; 2])]
|
||||
iir_state: [[iir::Vec5; IIR_CASCADE_LENGTH]; 2],
|
||||
#[init([[iir::IIR::new(1./(1 << 16) as f32, -SCALE, SCALE); IIR_CASCADE_LENGTH]; 2])]
|
||||
iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
|
||||
|
||||
timestamper: InputStamper,
|
||||
|
|
@ -71,10 +71,10 @@ const APP: () = {
|
|||
)
|
||||
.unwrap();
|
||||
|
||||
let pll = RPLL::new(ADC_SAMPLE_TICKS_LOG2 + SAMPLE_BUFFER_SIZE_LOG2, 0);
|
||||
let pll = RPLL::new(ADC_SAMPLE_TICKS_LOG2 + SAMPLE_BUFFER_SIZE_LOG2);
|
||||
|
||||
let lockin = Lockin::new(
|
||||
&iir_int::IIRState::lowpass(1e-3, 0.707, 2.), // TODO: expose
|
||||
iir_int::Vec5::lowpass(1e-3, 0.707, 2.), // TODO: expose
|
||||
);
|
||||
|
||||
// Enable ADC/DAC events
|
||||
|
|
@ -101,24 +101,13 @@ const APP: () = {
|
|||
}
|
||||
}
|
||||
|
||||
/// Main DSP processing routine for Stabilizer.
|
||||
/// Main DSP processing routine.
|
||||
///
|
||||
/// # Note
|
||||
/// Processing time for the DSP application code is bounded by the following constraints:
|
||||
/// See `dual-iir` for general notes on processing time and timing.
|
||||
///
|
||||
/// DSP application code starts after the ADC has generated a batch of samples and must be
|
||||
/// completed by the time the next batch of ADC samples has been acquired (plus the FIFO buffer
|
||||
/// time). If this constraint is not met, firmware will panic due to an ADC input overrun.
|
||||
///
|
||||
/// The DSP application code must also fill out the next DAC output buffer in time such that the
|
||||
/// DAC can switch to it when it has completed the current buffer. If this constraint is not met
|
||||
/// it's possible that old DAC codes will be generated on the output and the output samples will
|
||||
/// be delayed by 1 batch.
|
||||
///
|
||||
/// 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.
|
||||
///
|
||||
/// TODO: document lockin
|
||||
/// This is an implementation of a externally (DI0) referenced PLL lockin on the ADC0 signal.
|
||||
/// It outputs either I/Q or power/phase on DAC0/DAC1. Data is normalized to full scale.
|
||||
/// PLL bandwidth, filter bandwidth, slope, and x/y or power/phase post-filters are available.
|
||||
#[task(binds=DMA1_STR4, resources=[adcs, dacs, iir_state, iir_ch, lockin, timestamper, pll], priority=2)]
|
||||
fn process(c: process::Context) {
|
||||
let adc_samples = [
|
||||
|
|
@ -135,47 +124,67 @@ const APP: () = {
|
|||
let iir_state = c.resources.iir_state;
|
||||
let lockin = c.resources.lockin;
|
||||
|
||||
let timestamp = c
|
||||
.resources
|
||||
.timestamper
|
||||
.latest_timestamp()
|
||||
.unwrap_or_else(|t| t) // Ignore timer capture overflows.
|
||||
.map(|t| t as i32);
|
||||
let (pll_phase, pll_frequency) = c.resources.pll.update(
|
||||
c.resources.timestamper.latest_timestamp().map(|t| t as i32),
|
||||
22, // relative PLL frequency bandwidth: 2**-22, TODO: expose
|
||||
22, // relative PLL phase bandwidth: 2**-22, TODO: expose
|
||||
timestamp,
|
||||
22, // frequency settling time (log2 counter cycles), TODO: expose
|
||||
22, // phase settling time, TODO: expose
|
||||
);
|
||||
|
||||
// Harmonic index of the LO: -1 to _de_modulate the fundamental
|
||||
let harmonic: i32 = -1;
|
||||
// Demodulation LO phase offset
|
||||
let phase_offset: i32 = 0;
|
||||
let sample_frequency =
|
||||
(pll_frequency >> SAMPLE_BUFFER_SIZE_LOG2).wrapping_mul(harmonic);
|
||||
let mut sample_phase =
|
||||
// Harmonic index of the LO: -1 to _de_modulate the fundamental (complex conjugate)
|
||||
let harmonic: i32 = -1; // TODO: expose
|
||||
// Demodulation LO phase offset
|
||||
let phase_offset: i32 = 0; // TODO: expose
|
||||
|
||||
let sample_frequency = ((pll_frequency
|
||||
// .wrapping_add(1 << SAMPLE_BUFFER_SIZE_LOG2 - 1) // half-up rounding bias
|
||||
>> SAMPLE_BUFFER_SIZE_LOG2) as i32)
|
||||
.wrapping_mul(harmonic);
|
||||
let sample_phase =
|
||||
phase_offset.wrapping_add(pll_phase.wrapping_mul(harmonic));
|
||||
|
||||
for i in 0..adc_samples[0].len() {
|
||||
let output = adc_samples[0]
|
||||
.iter()
|
||||
.zip(Accu::new(sample_phase, sample_frequency))
|
||||
// Convert to signed, MSB align the ADC sample.
|
||||
let input = (adc_samples[0][i] as i16 as i32) << 16;
|
||||
// Obtain demodulated, filtered IQ sample.
|
||||
let output = lockin.update(input, sample_phase);
|
||||
// Advance the sample phase.
|
||||
sample_phase = sample_phase.wrapping_add(sample_frequency);
|
||||
.map(|(&sample, phase)| {
|
||||
lockin.update((sample as i16 as i32) << 16, phase)
|
||||
})
|
||||
.last()
|
||||
.unwrap();
|
||||
|
||||
// convert i/q to power/phase,
|
||||
let power_phase = true; // TODO: expose
|
||||
|
||||
let mut output = if power_phase {
|
||||
// Convert from IQ to power and phase.
|
||||
let mut power = output.power() as _;
|
||||
let mut phase = output.phase() as _;
|
||||
[output.abs_sqr() as _, output.arg() as _]
|
||||
} else {
|
||||
[output.0 as _, output.1 as _]
|
||||
};
|
||||
|
||||
// Filter power and phase through IIR filters.
|
||||
// Note: Normalization to be done in filters. Phase will wrap happily.
|
||||
for j in 0..iir_state[0].len() {
|
||||
power = iir_ch[0][j].update(&mut iir_state[0][j], power);
|
||||
phase = iir_ch[1][j].update(&mut iir_state[1][j], phase);
|
||||
// Filter power and phase through IIR filters.
|
||||
// Note: Normalization to be done in filters. Phase will wrap happily.
|
||||
for j in 0..iir_state[0].len() {
|
||||
for k in 0..output.len() {
|
||||
output[k] =
|
||||
iir_ch[k][j].update(&mut iir_state[k][j], output[k]);
|
||||
}
|
||||
}
|
||||
|
||||
// Note(unsafe): range clipping to i16 is ensured by IIR filters above.
|
||||
// Convert to DAC data.
|
||||
// Note(unsafe): range clipping to i16 is ensured by IIR filters above.
|
||||
// Convert to DAC data.
|
||||
for i in 0..dac_samples[0].len() {
|
||||
unsafe {
|
||||
dac_samples[0][i] =
|
||||
power.to_int_unchecked::<i16>() as u16 ^ 0x8000;
|
||||
output[0].to_int_unchecked::<i16>() as u16 ^ 0x8000;
|
||||
dac_samples[1][i] =
|
||||
phase.to_int_unchecked::<i16>() as u16 ^ 0x8000;
|
||||
output[1].to_int_unchecked::<i16>() as u16 ^ 0x8000;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,165 @@
|
|||
#![deny(warnings)]
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
#![cfg_attr(feature = "nightly", feature(core_intrinsics))]
|
||||
|
||||
use dsp::{iir_int, lockin::Lockin, Accu};
|
||||
use hardware::{Adc1Input, Dac0Output, Dac1Output, AFE0, AFE1};
|
||||
use stabilizer::{hardware, SAMPLE_BUFFER_SIZE, SAMPLE_BUFFER_SIZE_LOG2};
|
||||
|
||||
// A constant sinusoid to send on the DAC output.
|
||||
// Full-scale gives a +/- 10V amplitude waveform. Scale it down to give +/- 1V.
|
||||
const ONE: i16 = (0.1 * u16::MAX as f32) as _;
|
||||
const SQRT2: i16 = (ONE as f32 * 0.707) as _;
|
||||
const DAC_SEQUENCE: [i16; SAMPLE_BUFFER_SIZE] =
|
||||
[ONE, SQRT2, 0, -SQRT2, -ONE, -SQRT2, 0, SQRT2];
|
||||
|
||||
#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
|
||||
const APP: () = {
|
||||
struct Resources {
|
||||
afes: (AFE0, AFE1),
|
||||
adc1: Adc1Input,
|
||||
dacs: (Dac0Output, Dac1Output),
|
||||
|
||||
lockin: Lockin,
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(c: init::Context) -> init::LateResources {
|
||||
// Configure the microcontroller
|
||||
let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
|
||||
|
||||
let lockin = Lockin::new(
|
||||
iir_int::Vec5::lowpass(1e-3, 0.707, 2.), // TODO: expose
|
||||
);
|
||||
|
||||
// Enable ADC/DAC events
|
||||
stabilizer.adcs.1.start();
|
||||
stabilizer.dacs.0.start();
|
||||
stabilizer.dacs.1.start();
|
||||
|
||||
// Start sampling ADCs.
|
||||
stabilizer.adc_dac_timer.start();
|
||||
|
||||
init::LateResources {
|
||||
lockin,
|
||||
afes: stabilizer.afes,
|
||||
adc1: stabilizer.adcs.1,
|
||||
dacs: stabilizer.dacs,
|
||||
}
|
||||
}
|
||||
|
||||
/// Main DSP processing routine for Stabilizer.
|
||||
///
|
||||
/// # Note
|
||||
/// Processing time for the DSP application code is bounded by the following constraints:
|
||||
///
|
||||
/// DSP application code starts after the ADC has generated a batch of samples and must be
|
||||
/// completed by the time the next batch of ADC samples has been acquired (plus the FIFO buffer
|
||||
/// time). If this constraint is not met, firmware will panic due to an ADC input overrun.
|
||||
///
|
||||
/// The DSP application code must also fill out the next DAC output buffer in time such that the
|
||||
/// DAC can switch to it when it has completed the current buffer. If this constraint is not met
|
||||
/// it's possible that old DAC codes will be generated on the output and the output samples will
|
||||
/// be delayed by 1 batch.
|
||||
///
|
||||
/// 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.
|
||||
///
|
||||
/// TODO: Document
|
||||
#[task(binds=DMA1_STR4, resources=[adc1, dacs, lockin], priority=2)]
|
||||
fn process(c: process::Context) {
|
||||
let lockin = c.resources.lockin;
|
||||
let adc_samples = c.resources.adc1.acquire_buffer();
|
||||
let dac_samples = [
|
||||
c.resources.dacs.0.acquire_buffer(),
|
||||
c.resources.dacs.1.acquire_buffer(),
|
||||
];
|
||||
|
||||
// DAC0 always generates a fixed sinusoidal output.
|
||||
dac_samples[0]
|
||||
.iter_mut()
|
||||
.zip(DAC_SEQUENCE.iter())
|
||||
.for_each(|(d, s)| *d = *s as u16 ^ 0x8000);
|
||||
|
||||
// Reference phase and frequency are known.
|
||||
let pll_phase = 0;
|
||||
let pll_frequency = 1i32 << (32 - SAMPLE_BUFFER_SIZE_LOG2);
|
||||
|
||||
// Harmonic index of the LO: -1 to _de_modulate the fundamental
|
||||
let harmonic: i32 = -1;
|
||||
|
||||
// Demodulation LO phase offset
|
||||
let phase_offset: i32 = (0.25 * i32::MAX as f32) as i32;
|
||||
let sample_frequency = (pll_frequency as i32).wrapping_mul(harmonic);
|
||||
let sample_phase = phase_offset
|
||||
.wrapping_add((pll_phase as i32).wrapping_mul(harmonic));
|
||||
|
||||
let output = adc_samples
|
||||
.iter()
|
||||
// Zip in the LO phase.
|
||||
.zip(Accu::new(sample_phase, sample_frequency))
|
||||
// Convert to signed, MSB align the ADC sample, update the Lockin (demodulate, filter)
|
||||
.map(|(&sample, phase)| {
|
||||
lockin.update((sample as i16 as i32) << 16, phase)
|
||||
})
|
||||
// Decimate
|
||||
.last()
|
||||
.unwrap();
|
||||
|
||||
// convert i/q to power/phase,
|
||||
let power_phase = true; // TODO: expose
|
||||
|
||||
let output = if power_phase {
|
||||
// Convert from IQ to power and phase.
|
||||
[output.abs_sqr(), output.arg()]
|
||||
} else {
|
||||
[output.0, output.1]
|
||||
};
|
||||
|
||||
for value in dac_samples[1].iter_mut() {
|
||||
*value = (output[1] >> 16) as u16 ^ 0x8000;
|
||||
}
|
||||
}
|
||||
|
||||
#[idle(resources=[afes])]
|
||||
fn idle(_: idle::Context) -> ! {
|
||||
loop {
|
||||
// TODO: Implement network interface.
|
||||
cortex_m::asm::wfi();
|
||||
}
|
||||
}
|
||||
|
||||
#[task(binds = ETH, priority = 1)]
|
||||
fn eth(_: eth::Context) {
|
||||
unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
|
||||
}
|
||||
|
||||
#[task(binds = SPI2, priority = 3)]
|
||||
fn spi2(_: spi2::Context) {
|
||||
panic!("ADC0 input overrun");
|
||||
}
|
||||
|
||||
#[task(binds = SPI3, priority = 3)]
|
||||
fn spi3(_: spi3::Context) {
|
||||
panic!("ADC1 input overrun");
|
||||
}
|
||||
|
||||
#[task(binds = SPI4, priority = 3)]
|
||||
fn spi4(_: spi4::Context) {
|
||||
panic!("DAC0 output error");
|
||||
}
|
||||
|
||||
#[task(binds = SPI5, priority = 3)]
|
||||
fn spi5(_: spi5::Context) {
|
||||
panic!("DAC1 output error");
|
||||
}
|
||||
|
||||
extern "C" {
|
||||
// hw interrupt handlers for RTIC to use for scheduling tasks
|
||||
// one per priority
|
||||
fn DCMI();
|
||||
fn JPEG();
|
||||
fn SDMMC();
|
||||
}
|
||||
};
|
||||
|
|
@ -180,18 +180,21 @@ macro_rules! adc_input {
|
|||
hal::spi::Spi<hal::stm32::$spi, hal::spi::Disabled, u16>,
|
||||
PeripheralToMemory,
|
||||
&'static mut [u16; SAMPLE_BUFFER_SIZE],
|
||||
hal::dma::DBTransfer,
|
||||
>,
|
||||
trigger_transfer: Transfer<
|
||||
hal::dma::dma::$trigger_stream<hal::stm32::DMA1>,
|
||||
[< $spi CR >],
|
||||
MemoryToPeripheral,
|
||||
&'static mut [u32; 1],
|
||||
hal::dma::DBTransfer,
|
||||
>,
|
||||
clear_transfer: Transfer<
|
||||
hal::dma::dma::$clear_stream<hal::stm32::DMA1>,
|
||||
[< $spi IFCR >],
|
||||
MemoryToPeripheral,
|
||||
&'static mut [u32; 1],
|
||||
hal::dma::DBTransfer,
|
||||
>,
|
||||
}
|
||||
|
||||
|
|
@ -239,6 +242,7 @@ macro_rules! adc_input {
|
|||
_,
|
||||
MemoryToPeripheral,
|
||||
_,
|
||||
_,
|
||||
> = Transfer::init(
|
||||
clear_stream,
|
||||
[< $spi IFCR >]::new(clear_channel),
|
||||
|
|
@ -276,6 +280,7 @@ macro_rules! adc_input {
|
|||
_,
|
||||
MemoryToPeripheral,
|
||||
_,
|
||||
_,
|
||||
> = Transfer::init(
|
||||
trigger_stream,
|
||||
[< $spi CR >]::new(trigger_channel),
|
||||
|
|
@ -306,7 +311,7 @@ macro_rules! adc_input {
|
|||
|
||||
// The data transfer is always a transfer of data from the peripheral to a RAM
|
||||
// buffer.
|
||||
let data_transfer: Transfer<_, _, PeripheralToMemory, _> =
|
||||
let data_transfer: Transfer<_, _, PeripheralToMemory, _, _> =
|
||||
Transfer::init(
|
||||
data_stream,
|
||||
spi,
|
||||
|
|
|
|||
|
|
@ -161,7 +161,6 @@ pub fn setup(
|
|||
// Configure the timer to count at the designed tick rate. We will manually set the
|
||||
// period below.
|
||||
timer2.pause();
|
||||
timer2.reset_counter();
|
||||
timer2.set_tick_freq(design_parameters::TIMER_FREQUENCY);
|
||||
|
||||
let mut sampling_timer = timers::SamplingTimer::new(timer2);
|
||||
|
|
@ -220,13 +219,15 @@ pub fn setup(
|
|||
timer5.pause();
|
||||
timer5.set_tick_freq(design_parameters::TIMER_FREQUENCY);
|
||||
|
||||
// The timestamp timer must run at exactly a multiple of the sample timer based on the
|
||||
// batch size. To accomodate this, we manually set the prescaler identical to the sample
|
||||
// timer, but use a period that is longer.
|
||||
// The timestamp timer runs at the counter cycle period as the sampling timers.
|
||||
// To accomodate this, we manually set the prescaler identical to the sample
|
||||
// timer, but use maximum overflow period.
|
||||
let mut timer = timers::TimestampTimer::new(timer5);
|
||||
|
||||
let period = digital_input_stamper::calculate_timestamp_timer_period();
|
||||
timer.set_period_ticks(period);
|
||||
// TODO: Check hardware synchronization of timestamping and the sampling timers
|
||||
// for phase shift determinism.
|
||||
|
||||
timer.set_period_ticks(u32::MAX);
|
||||
|
||||
timer
|
||||
};
|
||||
|
|
@ -517,11 +518,11 @@ pub fn setup(
|
|||
let store = unsafe { &mut NET_STORE };
|
||||
|
||||
store.ip_addrs[0] = smoltcp::wire::IpCidr::new(
|
||||
smoltcp::wire::IpAddress::v4(10, 0, 16, 99),
|
||||
smoltcp::wire::IpAddress::v4(10, 34, 16, 103),
|
||||
24,
|
||||
);
|
||||
|
||||
let default_v4_gw = smoltcp::wire::Ipv4Address::new(10, 0, 16, 1);
|
||||
let default_v4_gw = smoltcp::wire::Ipv4Address::new(10, 34, 16, 1);
|
||||
let mut routes =
|
||||
smoltcp::iface::Routes::new(&mut store.routes_cache[..]);
|
||||
routes.add_default_ipv4_route(default_v4_gw).unwrap();
|
||||
|
|
|
|||
|
|
@ -122,6 +122,7 @@ macro_rules! dac_output {
|
|||
$spi,
|
||||
MemoryToPeripheral,
|
||||
&'static mut [u16; SAMPLE_BUFFER_SIZE],
|
||||
hal::dma::DBTransfer,
|
||||
>,
|
||||
}
|
||||
|
||||
|
|
@ -164,7 +165,7 @@ macro_rules! dac_output {
|
|||
}
|
||||
|
||||
// Construct the trigger stream to write from memory to the peripheral.
|
||||
let transfer: Transfer<_, _, MemoryToPeripheral, _> =
|
||||
let transfer: Transfer<_, _, MemoryToPeripheral, _, _> =
|
||||
Transfer::init(
|
||||
stream,
|
||||
$spi::new(trigger_channel, spi),
|
||||
|
|
|
|||
|
|
@ -25,42 +25,6 @@
|
|||
///! This module only supports DI0 for timestamping due to trigger constraints on the DIx pins. If
|
||||
///! timestamping is desired in DI1, a separate timer + capture channel will be necessary.
|
||||
use super::{hal, timers};
|
||||
use crate::{ADC_SAMPLE_TICKS, SAMPLE_BUFFER_SIZE};
|
||||
|
||||
/// Calculate the period of the digital input timestamp timer.
|
||||
///
|
||||
/// # Note
|
||||
/// The period returned will be 1 less than the required period in timer ticks. The value returned
|
||||
/// can be immediately programmed into a hardware timer period register.
|
||||
///
|
||||
/// The period is calculated to be some power-of-two multiple of the batch size, such that N batches
|
||||
/// will occur between each timestamp timer overflow.
|
||||
///
|
||||
/// # Returns
|
||||
/// A 32-bit value that can be programmed into a hardware timer period register.
|
||||
pub fn calculate_timestamp_timer_period() -> u32 {
|
||||
// Calculate how long a single batch requires in timer ticks.
|
||||
let batch_duration_ticks: u64 =
|
||||
SAMPLE_BUFFER_SIZE as u64 * ADC_SAMPLE_TICKS as u64;
|
||||
|
||||
// Calculate the largest power-of-two that is less than or equal to
|
||||
// `batches_per_overflow`. This is completed by eliminating the least significant
|
||||
// bits of the value until only the msb remains, which is always a power of two.
|
||||
let batches_per_overflow: u64 =
|
||||
(1u64 + u32::MAX as u64) / batch_duration_ticks;
|
||||
let mut j = batches_per_overflow;
|
||||
while (j & (j - 1)) != 0 {
|
||||
j = j & (j - 1);
|
||||
}
|
||||
|
||||
// Once the number of batches per timestamp overflow is calculated, we can figure out the final
|
||||
// period of the timestamp timer. The period is always 1 larger than the value configured in the
|
||||
// register.
|
||||
let period: u64 = batch_duration_ticks * j - 1u64;
|
||||
assert!(period <= u32::MAX as u64);
|
||||
|
||||
period as u32
|
||||
}
|
||||
|
||||
/// The timestamper for DI0 reference clock inputs.
|
||||
pub struct InputStamper {
|
||||
|
|
@ -98,15 +62,12 @@ impl InputStamper {
|
|||
/// Get the latest timestamp that has occurred.
|
||||
///
|
||||
/// # Note
|
||||
/// This function must be called sufficiently often. If an over-capture event occurs, this
|
||||
/// function will panic, as this indicates a timestamp was inadvertently dropped.
|
||||
///
|
||||
/// To prevent timestamp loss, the batch size and sampling rate must be adjusted such that at
|
||||
/// most one timestamp will occur in each data processing cycle.
|
||||
/// This function must be called at least as often as timestamps arrive.
|
||||
/// If an over-capture event occurs, this function will clear the overflow,
|
||||
/// and return a new timestamp of unknown recency an `Err()`.
|
||||
/// Note that this indicates at least one timestamp was inadvertently dropped.
|
||||
#[allow(dead_code)]
|
||||
pub fn latest_timestamp(&mut self) -> Option<u32> {
|
||||
self.capture_channel
|
||||
.latest_capture()
|
||||
.expect("DI0 timestamp overrun")
|
||||
pub fn latest_timestamp(&mut self) -> Result<Option<u32>, Option<u32>> {
|
||||
self.capture_channel.latest_capture()
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -43,6 +43,7 @@ pub struct Timestamper {
|
|||
timers::tim8::Channel1InputCapture,
|
||||
PeripheralToMemory,
|
||||
&'static mut [u16; SAMPLE_BUFFER_SIZE],
|
||||
hal::dma::DBTransfer,
|
||||
>,
|
||||
}
|
||||
|
||||
|
|
@ -89,7 +90,7 @@ impl Timestamper {
|
|||
input_capture.listen_dma();
|
||||
|
||||
// The data transfer is always a transfer of data from the peripheral to a RAM buffer.
|
||||
let data_transfer: Transfer<_, _, PeripheralToMemory, _> =
|
||||
let data_transfer: Transfer<_, _, PeripheralToMemory, _, _> =
|
||||
Transfer::init(
|
||||
stream,
|
||||
input_capture,
|
||||
|
|
|
|||
|
|
@ -281,28 +281,26 @@ macro_rules! timer_channels {
|
|||
impl [< Channel $index InputCapture >] {
|
||||
/// Get the latest capture from the channel.
|
||||
#[allow(dead_code)]
|
||||
pub fn latest_capture(&mut self) -> Result<Option<$size>, ()> {
|
||||
pub fn latest_capture(&mut self) -> Result<Option<$size>, Option<$size>> {
|
||||
// Note(unsafe): This channel owns all access to the specific timer channel.
|
||||
// Only atomic operations on completed on the timer registers.
|
||||
let regs = unsafe { &*<$TY>::ptr() };
|
||||
let sr = regs.sr.read();
|
||||
|
||||
let result = if sr.[< cc $index if >]().bit_is_set() {
|
||||
let result = if regs.sr.read().[< cc $index if >]().bit_is_set() {
|
||||
// Read the capture value. Reading the captured value clears the flag in the
|
||||
// status register automatically.
|
||||
let ccx = regs.[< ccr $index >].read();
|
||||
Some(ccx.ccr().bits())
|
||||
Some(regs.[< ccr $index >].read().ccr().bits())
|
||||
} else {
|
||||
None
|
||||
};
|
||||
|
||||
// Read SR again to check for a potential over-capture. If there is an
|
||||
// overcapture, return an error.
|
||||
if regs.sr.read().[< cc $index of >]().bit_is_clear() {
|
||||
Ok(result)
|
||||
} else {
|
||||
if regs.sr.read().[< cc $index of >]().bit_is_set() {
|
||||
regs.sr.modify(|_, w| w.[< cc $index of >]().clear_bit());
|
||||
Err(())
|
||||
Err(result)
|
||||
} else {
|
||||
Ok(result)
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue