Merge branch 'master' into new-pac
* master: refactor server cleanup, robustify iir: remove old setting frontend: cleanup cargo: use published serde-json-core cargo: drop lexical
This commit is contained in:
commit
9dff71a0c4
26
Cargo.lock
generated
26
Cargo.lock
generated
@ -122,15 +122,6 @@ dependencies = [
|
||||
"hash32 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "lexical-core"
|
||||
version = "0.4.0"
|
||||
dependencies = [
|
||||
"cfg-if 0.1.9 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"ryu 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"static_assertions 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "log"
|
||||
version = "0.4.6"
|
||||
@ -208,11 +199,6 @@ dependencies = [
|
||||
"semver 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "ryu"
|
||||
version = "0.2.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "0.9.0"
|
||||
@ -237,9 +223,9 @@ dependencies = [
|
||||
[[package]]
|
||||
name = "serde-json-core"
|
||||
version = "0.0.1"
|
||||
source = "git+https://github.com/quartiq/serde-json-core.git?rev=6143ac2#6143ac229ec3f5382555f37fe673413c8b46b0cf"
|
||||
dependencies = [
|
||||
"heapless 0.4.4 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"lexical-core 0.4.0",
|
||||
"serde 1.0.91 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
@ -275,7 +261,7 @@ dependencies = [
|
||||
"panic-abort 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"panic-semihosting 0.5.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"serde 1.0.91 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"serde-json-core 0.0.1",
|
||||
"serde-json-core 0.0.1 (git+https://github.com/quartiq/serde-json-core.git?rev=6143ac2)",
|
||||
"smoltcp 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"stm32h7 0.7.0",
|
||||
]
|
||||
@ -285,11 +271,6 @@ name = "stable_deref_trait"
|
||||
version = "1.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "static_assertions"
|
||||
version = "0.2.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "stm32h7"
|
||||
version = "0.7.0"
|
||||
@ -360,14 +341,13 @@ dependencies = [
|
||||
"checksum rand_core 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)" = "7a6fdeb83b075e8266dcc8762c22776f6877a63111121f5f8c7411e5be7eed4b"
|
||||
"checksum rand_core 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "d0e7a549d590831370895ab7ba4ea0c1b6b011d106b5ff2da6eee112615e6dc0"
|
||||
"checksum rustc_version 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
|
||||
"checksum ryu 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)" = "b96a9549dc8d48f2c283938303c4b5a77aa29bfbc5b54b084fb1630408899a8f"
|
||||
"checksum semver 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)" = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
|
||||
"checksum semver-parser 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
||||
"checksum serde 1.0.91 (registry+https://github.com/rust-lang/crates.io-index)" = "a72e9b96fa45ce22a4bc23da3858dfccfd60acd28a25bcd328a98fdd6bea43fd"
|
||||
"checksum serde-json-core 0.0.1 (git+https://github.com/quartiq/serde-json-core.git?rev=6143ac2)" = "<none>"
|
||||
"checksum serde_derive 1.0.91 (registry+https://github.com/rust-lang/crates.io-index)" = "101b495b109a3e3ca8c4cbe44cf62391527cdfb6ba15821c5ce80bcd5ea23f9f"
|
||||
"checksum smoltcp 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)" = "fef582369edb298c6c41319a544ca9c4e83622f226055ccfcb35974fbb55ed34"
|
||||
"checksum stable_deref_trait 1.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "dba1a27d3efae4351c8051072d619e3ade2820635c3958d826bfea39d59b54c8"
|
||||
"checksum static_assertions 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)" = "c19be23126415861cb3a23e501d34a708f7f9b2183c5252d690941c2e69199d5"
|
||||
"checksum syn 0.15.34 (registry+https://github.com/rust-lang/crates.io-index)" = "a1393e4a97a19c01e900df2aec855a29f71cf02c402e2f443b8d2747c25c5dbe"
|
||||
"checksum typenum 1.10.0 (registry+https://github.com/rust-lang/crates.io-index)" = "612d636f949607bdf9b123b4a6f6d966dedf3ff669f7f045890d3a4a73948169"
|
||||
"checksum unicode-xid 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "fc72304796d0818e357ead4e000d19c9c174ab23dc11093ac919054d20a6a7fc"
|
||||
|
||||
11
Cargo.toml
11
Cargo.toml
@ -33,13 +33,13 @@ cortex-m-log = { version = "0.5", features = ["log-integration"] }
|
||||
log = "0.4"
|
||||
panic-abort = "0.3"
|
||||
panic-semihosting = { version = "0.5.2", optional = true }
|
||||
serde-json-core = { version = "0.0" }
|
||||
serde = { version = "1.0", features = ["derive"], default-features = false }
|
||||
heapless = { version = "0.4" }
|
||||
|
||||
[patch.crates-io]
|
||||
serde-json-core = { path = "../serde-json-core" }
|
||||
lexical-core = { path = "../rust-lexical/lexical-core" }
|
||||
[dependencies.serde-json-core]
|
||||
# version = "0.0"
|
||||
git = "https://github.com/quartiq/serde-json-core.git"
|
||||
rev = "6143ac2"
|
||||
|
||||
[dependencies.stm32h7]
|
||||
path = "../stm32-rs/stm32h7"
|
||||
@ -47,7 +47,8 @@ path = "../stm32-rs/stm32h7"
|
||||
features = ["stm32h7x3", "rt"]
|
||||
|
||||
[dependencies.smoltcp]
|
||||
#git = "https://github.com/m-labs/smoltcp"
|
||||
#git = "https://github.com/m-labs/smoltcp.git"
|
||||
#rev = "cd893e6"
|
||||
version = "0.5"
|
||||
features = ["proto-ipv4", "socket-tcp"]
|
||||
default-features = false
|
||||
|
||||
21
README.md
21
README.md
@ -9,14 +9,20 @@
|
||||
* dual channel
|
||||
* SPI ADC
|
||||
* SPI DAC
|
||||
* fixed AFE gains
|
||||
* 500 kHz rate, timed
|
||||
* < 2 µs latency, unmatched
|
||||
* 500 kHz rate, timed sampling
|
||||
* 2 µs latency, unmatched between channels
|
||||
* f32 IIR math
|
||||
* generic biquad (second order) IIR filter
|
||||
* anti-windup
|
||||
* derivative kick avoidance
|
||||
* configurable output limits
|
||||
|
||||
## Limitations/TODOs
|
||||
|
||||
* Fixed AFE gains
|
||||
* The IP and MAC address are [hardcoded](src/main.rs)
|
||||
* Expose configurable limits
|
||||
* 100Base-T only
|
||||
* Digital IO, GPIO header, AFE header, EEM header are not handled
|
||||
|
||||
## Hardware
|
||||
|
||||
@ -33,3 +39,10 @@ See https://github.com/sinara-hw/Stabilizer
|
||||
* `rustup target add thumbv7em-none-eabihf`
|
||||
* `openocd -f stabilizer.cfg` and leave it running
|
||||
* `cargo run --release`
|
||||
|
||||
|
||||
## Protocol
|
||||
|
||||
Stabilizer can be configured via newline-delimited JSON over TCP.
|
||||
It listens on port 1235. [stabilizer.py](stabilizer.py) contains a reference
|
||||
implementation of the protocol.
|
||||
|
||||
@ -39,6 +39,7 @@ fn macc<T>(y0: T, x: &[T], a: &[T]) -> T
|
||||
x.iter().zip(a.iter()).map(|(&i, &j)| i * j).fold(y0, |y, xa| y + xa)
|
||||
}
|
||||
|
||||
#[allow(unused)]
|
||||
impl IIR {
|
||||
pub fn set_pi(&mut self, kp: f32, ki: f32, g: f32) -> Result<(), &str> {
|
||||
let ki = copysign(ki, kp);
|
||||
|
||||
107
src/main.rs
107
src/main.rs
@ -601,16 +601,6 @@ fn main() -> ! {
|
||||
let dbgmcu = dp.DBGMCU;
|
||||
dbgmcu.apb1lfz1.modify(|_, w| w.tim2().set_bit());
|
||||
|
||||
unsafe {
|
||||
let t = 2e-6*2.;
|
||||
IIR_CH[0].set_pi(1., 0., 0.).unwrap();
|
||||
IIR_CH[0].set_x_offset(0.*SCALE);
|
||||
|
||||
IIR_CH[1].set_pi(-0.1, -10.*t, 0.).unwrap();
|
||||
IIR_CH[1].set_x_offset(0.1*SCALE);
|
||||
IIR_CH[1].get_x_offset().unwrap();
|
||||
}
|
||||
|
||||
eth::setup(&rcc, &dp.SYSCFG);
|
||||
eth::setup_pins(&dp.GPIOA, &dp.GPIOB, &dp.GPIOC, &dp.GPIOG);
|
||||
|
||||
@ -644,6 +634,7 @@ fn main() -> ! {
|
||||
});
|
||||
|
||||
let mut last = 0;
|
||||
let mut server = Server::new();
|
||||
loop {
|
||||
// if ETHERNET_PENDING.swap(false, Ordering::Relaxed) { }
|
||||
let time = TIME.load(Ordering::Relaxed);
|
||||
@ -653,14 +644,7 @@ fn main() -> ! {
|
||||
socket.listen(1234).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
|
||||
} else if last != time && socket.can_send() {
|
||||
last = time;
|
||||
let s = unsafe { Status{
|
||||
t: time,
|
||||
x0: IIR_STATE[0][0],
|
||||
y0: IIR_STATE[0][2],
|
||||
x1: IIR_STATE[1][0],
|
||||
y1: IIR_STATE[1][2],
|
||||
}};
|
||||
send_response(socket, &s);
|
||||
handle_status(socket, time);
|
||||
}
|
||||
}
|
||||
{
|
||||
@ -668,7 +652,7 @@ fn main() -> ! {
|
||||
if !(socket.is_open() || socket.is_listening()) {
|
||||
socket.listen(1235).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
|
||||
} else {
|
||||
handle_command(socket);
|
||||
server.handle_command(socket);
|
||||
}
|
||||
}
|
||||
|
||||
@ -684,7 +668,7 @@ fn main() -> ! {
|
||||
|
||||
#[derive(Deserialize,Serialize)]
|
||||
struct Request {
|
||||
channel: i8,
|
||||
channel: u8,
|
||||
iir: IIR,
|
||||
}
|
||||
|
||||
@ -694,52 +678,79 @@ struct Response<'a> {
|
||||
message: &'a str,
|
||||
}
|
||||
|
||||
fn send_response<T: Serialize>(socket: &mut net::socket::TcpSocket, msg: &T) {
|
||||
fn reply<T: Serialize>(socket: &mut net::socket::TcpSocket, msg: &T) {
|
||||
let mut u: String<U128> = to_string(msg).unwrap();
|
||||
u.push('\n').unwrap();
|
||||
socket.write_str(&u).unwrap();
|
||||
}
|
||||
|
||||
fn handle_command(socket: &mut net::socket::TcpSocket) {
|
||||
let mut data: Vec<u8, U256> = Vec::new();
|
||||
let mut discard: bool = false;
|
||||
while socket.can_recv() {
|
||||
if socket.recv(|buf| {
|
||||
let (len, found) = match buf.iter().position(|&c| c as char == '\n') {
|
||||
Some(end) => (end + 1, true),
|
||||
None => (buf.len(), false),
|
||||
};
|
||||
if data.len() + len >= data.capacity() {
|
||||
discard = true;
|
||||
data.clear();
|
||||
} else if !discard && len > 0 {
|
||||
data.extend_from_slice(&buf[..len - 1]).unwrap();
|
||||
struct Server {
|
||||
data: Vec<u8, U256>,
|
||||
discard: bool,
|
||||
}
|
||||
|
||||
impl Server {
|
||||
fn new() -> Self {
|
||||
Self { data: Vec::new(), discard: false }
|
||||
}
|
||||
|
||||
fn handle_command(&mut self, socket: &mut net::socket::TcpSocket) {
|
||||
while socket.can_recv() {
|
||||
let found = socket.recv(|buf| {
|
||||
let (len, found) = match buf.iter().position(|&c| c as char == '\n') {
|
||||
Some(end) => (end + 1, true),
|
||||
None => (buf.len(), false),
|
||||
};
|
||||
if self.data.len() + len >= self.data.capacity() {
|
||||
self.discard = true;
|
||||
self.data.clear();
|
||||
} else if !self.discard && len > 0 {
|
||||
self.data.extend_from_slice(&buf[..len - 1]).unwrap();
|
||||
}
|
||||
(len, found)
|
||||
}).unwrap();
|
||||
if !found {
|
||||
continue;
|
||||
}
|
||||
(len, found)
|
||||
}).unwrap() {
|
||||
let resp = if discard {
|
||||
discard = false;
|
||||
Response{ code: 500, message: "command buffer overflow" }
|
||||
let resp = if self.discard {
|
||||
self.discard = false;
|
||||
Response{ code: 520, message: "command buffer overflow" }
|
||||
} else {
|
||||
match from_slice::<Request>(&data) {
|
||||
match from_slice::<Request>(&self.data) {
|
||||
Ok(request) => {
|
||||
cortex_m::interrupt::free(|_| {
|
||||
unsafe { IIR_CH[request.channel as usize] = request.iir; };
|
||||
});
|
||||
Response{ code: 200, message: "ok" }
|
||||
if request.channel > 1 {
|
||||
Response{ code: 530, message: "invalid channel" }
|
||||
} else {
|
||||
cortex_m::interrupt::free(|_| {
|
||||
unsafe { IIR_CH[request.channel as usize] = request.iir; };
|
||||
});
|
||||
Response{ code: 200, message: "ok" }
|
||||
}
|
||||
},
|
||||
Err(err) => {
|
||||
warn!("parse error {}", err);
|
||||
warn!("parse error {:?}", err);
|
||||
Response{ code: 550, message: "parse error" }
|
||||
},
|
||||
}
|
||||
};
|
||||
send_response(socket, &resp);
|
||||
self.data.clear();
|
||||
reply(socket, &resp);
|
||||
socket.close();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_status(socket: &mut net::socket::TcpSocket, time: u32) {
|
||||
let s = unsafe { Status{
|
||||
t: time,
|
||||
x0: IIR_STATE[0][0],
|
||||
y0: IIR_STATE[0][2],
|
||||
x1: IIR_STATE[1][0],
|
||||
y1: IIR_STATE[1][2],
|
||||
}};
|
||||
reply(socket, &s);
|
||||
}
|
||||
|
||||
#[derive(Serialize)]
|
||||
struct Status {
|
||||
t: u32,
|
||||
@ -753,7 +764,7 @@ const SCALE: f32 = ((1 << 15) - 1) as f32;
|
||||
static mut IIR_STATE: [IIRState; 2] = [[0.; 5]; 2];
|
||||
static mut IIR_CH: [IIR; 2] = [
|
||||
IIR{ ba: [0., 0., 0., 0., 0.], y_offset: 0.,
|
||||
y_min: -SCALE, y_max: SCALE }; 2];
|
||||
y_min: -SCALE - 1., y_max: SCALE }; 2];
|
||||
|
||||
// seems to slow it down
|
||||
// #[link_section = ".data.spi1"]
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
import json
|
||||
import asyncio
|
||||
from collections import OrderedDict
|
||||
from collections import OrderedDict as OD
|
||||
import logging
|
||||
|
||||
import numpy as np
|
||||
@ -17,14 +17,14 @@ class StabilizerConfig:
|
||||
self.reader, self.writer = await asyncio.open_connection(host, port)
|
||||
|
||||
async def set(self, channel, iir):
|
||||
up = OrderedDict([("channel", channel), ("iir", iir.as_dict())])
|
||||
up = OD([("channel", channel), ("iir", iir.as_dict())])
|
||||
s = json.dumps(up, separators=(",", ":"))
|
||||
assert "\n" not in s
|
||||
logger.debug("send %s", s)
|
||||
self.writer.write(s.encode() + b"\n")
|
||||
r = (await self.reader.readline()).decode()
|
||||
logger.debug("recv %s", r)
|
||||
ret = json.loads(r, object_pairs_hook=OrderedDict)
|
||||
ret = json.loads(r, object_pairs_hook=OD)
|
||||
if ret["code"] != 200:
|
||||
raise StabilizerError(ret)
|
||||
return ret
|
||||
@ -32,15 +32,16 @@ class StabilizerConfig:
|
||||
|
||||
class IIR:
|
||||
t_update = 2e-6
|
||||
full_scale = float((1 << 15) - 1)
|
||||
|
||||
def __init__(self):
|
||||
self.ba = np.zeros(5, np.float32)
|
||||
self.y_offset = 0.
|
||||
self.y_min = -float(1 << 15)
|
||||
self.y_max = float(1 << 15) - 1
|
||||
self.y_min = -self.full_scale - 1
|
||||
self.y_max = self.full_scale
|
||||
|
||||
def as_dict(self):
|
||||
iir = OrderedDict()
|
||||
iir = OD()
|
||||
iir["ba"] = [float(_) for _ in self.ba]
|
||||
iir["y_offset"] = self.y_offset
|
||||
iir["y_min"] = self.y_min
|
||||
@ -70,7 +71,7 @@ class IIR:
|
||||
self.ba[4] = 0.
|
||||
|
||||
def set_x_offset(self, o):
|
||||
b = self.ba[:3].sum()
|
||||
b = self.ba[:3].sum()*self.full_scale
|
||||
self.y_offset = b*o
|
||||
|
||||
|
||||
@ -81,11 +82,12 @@ if __name__ == "__main__":
|
||||
p.add_argument("-c", "--channel", default=0, type=int,
|
||||
help="Stabilizer channel to configure")
|
||||
p.add_argument("-o", "--offset", default=0., type=float,
|
||||
help="X offset, in ADC LSB")
|
||||
help="input offset, in units of full scale")
|
||||
p.add_argument("-p", "--proportional-gain", default=1., type=float,
|
||||
help="Proportional gain, in DAC LSB/ADC LSB")
|
||||
help="Proportional gain, in units of 1")
|
||||
p.add_argument("-i", "--integral-gain", default=0., type=float,
|
||||
help="Integral gain, in DAC LSB/(ADC LSB*s)")
|
||||
help="Integral gain, in units of Hz, "
|
||||
"sign taken from proportional-gain")
|
||||
|
||||
args = p.parse_args()
|
||||
|
||||
@ -99,6 +101,7 @@ if __name__ == "__main__":
|
||||
i.set_x_offset(args.offset)
|
||||
s = StabilizerConfig()
|
||||
await s.connect(args.stabilizer)
|
||||
r = await s.set(0, i)
|
||||
assert args.channel in range(2)
|
||||
r = await s.set(args.channel, i)
|
||||
|
||||
loop.run_until_complete(main())
|
||||
|
||||
Loading…
Reference in New Issue
Block a user