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

Cargo.lock

@@ -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"

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]
+[dependencies.serde-json-core]
-serde-json-core = { path = "../serde-json-core" }
+# version = "0.0"
-lexical-core = { path = "../rust-lexical/lexical-core" }
+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

README.md

@@ -9,14 +9,20 @@
 * dual channel
 * SPI ADC
 * SPI DAC
-* fixed AFE gains
+* 500 kHz rate, timed sampling
-* 500 kHz rate, timed
+* 2 µs latency, unmatched between channels
-* < 2 µs latency, unmatched
 * 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.

src/iir.rs

@@ -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);

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{
+                handle_status(socket, time);
-                    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);
             }
         }
         {
@@ -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) {
+struct Server {
-    let mut data: Vec<u8, U256> = Vec::new();
+    data: Vec<u8, U256>,
-    let mut discard: bool = false;
+    discard: bool,
-    while socket.can_recv() {
+}
-        if socket.recv(|buf| {
+
-            let (len, found) = match buf.iter().position(|&c| c as char == '\n') {
+impl Server {
-                Some(end) => (end + 1, true),
+    fn new() -> Self {
-                None => (buf.len(), false),
+        Self { data: Vec::new(), discard: false }
-            };
+    }
-            if data.len() + len >= data.capacity() {
+
-                discard = true;
+    fn handle_command(&mut self, socket: &mut net::socket::TcpSocket) {
-                data.clear();
+        while socket.can_recv() {
-            } else if !discard && len > 0 {
+            let found = socket.recv(|buf| {
-                data.extend_from_slice(&buf[..len - 1]).unwrap();
+                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)
+            let resp = if self.discard {
-        }).unwrap() {
+                self.discard = false;
-            let resp = if discard {
+                Response{ code: 520, message: "command buffer overflow" }
-                discard = false;
-                Response{ code: 500, message: "command buffer overflow" }
             } else {
-                match from_slice::<Request>(&data) {
+                match from_slice::<Request>(&self.data) {
                     Ok(request) => {
-                        cortex_m::interrupt::free(|_| {
+                        if request.channel > 1 {
-                            unsafe { IIR_CH[request.channel as usize] = request.iir; };
+                            Response{ code: 530, message: "invalid channel" }
-                        });
+                        } else {
-                        Response{ code: 200, message: "ok" }
+                            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"]

stabilizer.py

@@ -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_min = -self.full_scale - 1
-        self.y_max = float(1 << 15) - 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())