Refactoring telemetry to support binaries
parent
1c9f30b4d5
commit
afcf058590
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@ -5,7 +5,7 @@
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use stabilizer::{hardware, net};
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use miniconf::{minimq, Miniconf};
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use serde::{Deserialize, Serialize};
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use serde::Deserialize;
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use dsp::iir;
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use hardware::{
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@ -20,13 +20,6 @@ const SCALE: f32 = i16::MAX as _;
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// The number of cascaded IIR biquads per channel. Select 1 or 2!
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const IIR_CASCADE_LENGTH: usize = 1;
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#[derive(Serialize, Clone)]
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pub struct Telemetry {
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latest_samples: [i16; 2],
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latest_outputs: [i16; 2],
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digital_inputs: [bool; 2],
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}
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#[derive(Clone, Copy, Debug, Deserialize, Miniconf)]
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pub struct Settings {
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afe: [AfeGain; 2],
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@ -48,17 +41,7 @@ impl Default for Settings {
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}
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}
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impl Default for Telemetry {
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fn default() -> Self {
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Self {
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latest_samples: [0, 0],
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latest_outputs: [0, 0],
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digital_inputs: [false, false],
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}
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}
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}
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#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = crate::hardware::SystemTimer)]
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#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = stabilizer::hardware::SystemTimer)]
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const APP: () = {
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struct Resources {
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afes: (AFE0, AFE1),
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@ -66,7 +49,7 @@ const APP: () = {
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adcs: (Adc0Input, Adc1Input),
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dacs: (Dac0Output, Dac1Output),
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mqtt_config: MiniconfInterface<Settings>,
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telemetry: Telemetry,
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telemetry: net::Telemetry,
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settings: Settings,
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// Format: iir_state[ch][cascade-no][coeff]
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@ -107,7 +90,7 @@ const APP: () = {
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afes: stabilizer.afes,
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adcs: stabilizer.adcs,
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dacs: stabilizer.dacs,
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telemetry: Telemetry::default(),
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telemetry: net::Telemetry::default(),
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digital_inputs: stabilizer.digital_inputs,
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mqtt_config,
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settings: Settings::default(),
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@ -1,143 +0,0 @@
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#![deny(warnings)]
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#![no_std]
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#![no_main]
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use dsp::{Accu, Complex, ComplexExt, Lockin};
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use generic_array::typenum::U2;
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use hardware::{Adc1Input, Dac0Output, Dac1Output, AFE0, AFE1};
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use stabilizer::{hardware, hardware::design_parameters};
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// A constant sinusoid to send on the DAC output.
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// Full-scale gives a +/- 10V amplitude waveform. Scale it down to give +/- 1V.
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const ONE: i16 = (0.1 * u16::MAX as f32) as _;
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const SQRT2: i16 = (ONE as f32 * 0.707) as _;
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const DAC_SEQUENCE: [i16; design_parameters::SAMPLE_BUFFER_SIZE] =
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[ONE, SQRT2, 0, -SQRT2, -ONE, -SQRT2, 0, SQRT2];
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#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
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const APP: () = {
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struct Resources {
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afes: (AFE0, AFE1),
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adc: Adc1Input,
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dacs: (Dac0Output, Dac1Output),
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lockin: Lockin<U2>,
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}
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#[init]
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fn init(c: init::Context) -> init::LateResources {
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// Configure the microcontroller
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let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
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// Enable ADC/DAC events
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stabilizer.adcs.1.start();
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stabilizer.dacs.0.start();
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stabilizer.dacs.1.start();
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// Start sampling ADCs.
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stabilizer.adc_dac_timer.start();
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init::LateResources {
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lockin: Lockin::default(),
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afes: stabilizer.afes,
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adc: stabilizer.adcs.1,
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dacs: stabilizer.dacs,
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}
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}
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/// Main DSP processing routine.
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///
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/// See `dual-iir` for general notes on processing time and timing.
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///
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/// This is an implementation of an internal-reference lockin on the ADC1 signal.
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/// The reference at f_sample/8 is output on DAC0 and the phase of the demodulated
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/// signal on DAC1.
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#[task(binds=DMA1_STR4, resources=[adc, dacs, lockin], priority=2)]
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fn process(c: process::Context) {
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let lockin = c.resources.lockin;
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let adc_samples = c.resources.adc.acquire_buffer();
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let dac_samples = [
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c.resources.dacs.0.acquire_buffer(),
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c.resources.dacs.1.acquire_buffer(),
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];
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// Reference phase and frequency are known.
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let pll_phase = 0i32;
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let pll_frequency =
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1i32 << (32 - design_parameters::SAMPLE_BUFFER_SIZE_LOG2);
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// Harmonic index of the LO: -1 to _de_modulate the fundamental (complex conjugate)
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let harmonic: i32 = -1;
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// Demodulation LO phase offset
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let phase_offset: i32 = 1 << 30;
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// Log2 lowpass time constant.
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let time_constant: u8 = 8;
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let sample_frequency = (pll_frequency as i32).wrapping_mul(harmonic);
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let sample_phase =
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phase_offset.wrapping_add(pll_phase.wrapping_mul(harmonic));
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let output: Complex<i32> = adc_samples
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.iter()
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// Zip in the LO phase.
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.zip(Accu::new(sample_phase, sample_frequency))
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// Convert to signed, MSB align the ADC sample, update the Lockin (demodulate, filter)
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.map(|(&sample, phase)| {
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let s = (sample as i16 as i32) << 16;
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lockin.update(s, phase, time_constant)
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})
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// Decimate
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.last()
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.unwrap()
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* 2; // Full scale assuming the 2f component is gone.
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// Convert to DAC data.
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for (i, data) in DAC_SEQUENCE.iter().enumerate() {
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// DAC0 always generates a fixed sinusoidal output.
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dac_samples[0][i] = *data as u16 ^ 0x8000;
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dac_samples[1][i] = (output.arg() >> 16) as u16 ^ 0x8000;
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}
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}
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#[idle(resources=[afes])]
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fn idle(_: idle::Context) -> ! {
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loop {
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cortex_m::asm::wfi();
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}
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}
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#[task(binds = ETH, priority = 1)]
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fn eth(_: eth::Context) {
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unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
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}
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#[task(binds = SPI2, priority = 3)]
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fn spi2(_: spi2::Context) {
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panic!("ADC0 input overrun");
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}
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#[task(binds = SPI3, priority = 3)]
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fn spi3(_: spi3::Context) {
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panic!("ADC1 input overrun");
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}
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#[task(binds = SPI4, priority = 3)]
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fn spi4(_: spi4::Context) {
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panic!("DAC0 output error");
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}
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#[task(binds = SPI5, priority = 3)]
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fn spi5(_: spi5::Context) {
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panic!("DAC1 output error");
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}
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extern "C" {
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// hw interrupt handlers for RTIC to use for scheduling tasks
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// one per priority
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fn DCMI();
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fn JPEG();
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fn SDMMC();
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}
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};
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@ -2,6 +2,7 @@
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#![no_std]
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#![no_main]
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use embedded_hal::digital::v2::InputPin;
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use generic_array::typenum::U4;
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use serde::Deserialize;
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@ -12,10 +13,11 @@ use stabilizer::net;
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use stabilizer::hardware::{
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design_parameters, setup, Adc0Input, Adc1Input, AfeGain, Dac0Output,
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Dac1Output, InputStamper, AFE0, AFE1,
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Dac1Output, DigitalInput0, DigitalInput1, InputStamper, SystemTimer, AFE0,
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AFE1,
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};
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use miniconf::Miniconf;
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use miniconf::{minimq, Miniconf};
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use stabilizer::net::{Action, MiniconfInterface};
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#[derive(Copy, Clone, Debug, Deserialize, Miniconf)]
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@ -36,6 +38,7 @@ pub struct Settings {
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lockin_phase: i32,
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output_conf: [Conf; 2],
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telemetry_period_secs: u16,
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}
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impl Default for Settings {
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@ -50,11 +53,12 @@ impl Default for Settings {
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lockin_phase: 0, // Demodulation LO phase offset
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output_conf: [Conf::Quadrature; 2],
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telemetry_period_secs: 10,
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}
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}
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}
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#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
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#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = stabilizer::hardware::SystemTimer)]
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const APP: () = {
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struct Resources {
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afes: (AFE0, AFE1),
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@ -62,13 +66,15 @@ const APP: () = {
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dacs: (Dac0Output, Dac1Output),
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mqtt_config: MiniconfInterface<Settings>,
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settings: Settings,
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telemetry: net::Telemetry,
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digital_inputs: (DigitalInput0, DigitalInput1),
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timestamper: InputStamper,
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pll: RPLL,
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lockin: Lockin<U4>,
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}
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#[init(spawn=[settings_update])]
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#[init(spawn=[settings_update, telemetry])]
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fn init(c: init::Context) -> init::LateResources {
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// Configure the microcontroller
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let (mut stabilizer, _pounder) = setup(c.core, c.device);
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@ -91,8 +97,9 @@ const APP: () = {
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+ design_parameters::SAMPLE_BUFFER_SIZE_LOG2,
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);
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// Spawn a settings update for default settings.
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// Spawn a settings and telemetry update for default settings.
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c.spawn.settings_update().unwrap();
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c.spawn.telemetry().unwrap();
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// Enable ADC/DAC events
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stabilizer.adcs.0.start();
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@ -113,8 +120,10 @@ const APP: () = {
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afes: stabilizer.afes,
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adcs: stabilizer.adcs,
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dacs: stabilizer.dacs,
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digital_inputs: stabilizer.digital_inputs,
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mqtt_config,
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timestamper: stabilizer.timestamper,
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telemetry: net::Telemetry::default(),
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settings,
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@ -130,7 +139,7 @@ const APP: () = {
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/// This is an implementation of a externally (DI0) referenced PLL lockin on the ADC0 signal.
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/// It outputs either I/Q or power/phase on DAC0/DAC1. Data is normalized to full scale.
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/// PLL bandwidth, filter bandwidth, slope, and x/y or power/phase post-filters are available.
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#[task(binds=DMA1_STR4, resources=[adcs, dacs, lockin, timestamper, pll, settings], priority=2)]
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#[task(binds=DMA1_STR4, resources=[adcs, dacs, lockin, timestamper, pll, settings, telemetry], priority=2)]
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fn process(c: process::Context) {
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let adc_samples = [
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c.resources.adcs.0.acquire_buffer(),
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@ -193,6 +202,14 @@ const APP: () = {
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dac_samples[0][i] = (output[0] >> 16) as u16 ^ 0x8000;
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dac_samples[1][i] = (output[1] >> 16) as u16 ^ 0x8000;
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}
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// Update telemetry measurements.
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// TODO: Should we report these as voltages?
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c.resources.telemetry.latest_samples =
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[adc_samples[0][0] as i16, adc_samples[1][0] as i16];
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c.resources.telemetry.latest_outputs =
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[dac_samples[0][0] as i16, dac_samples[1][0] as i16];
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}
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#[idle(resources=[mqtt_config], spawn=[settings_update])]
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@ -222,6 +239,50 @@ const APP: () = {
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c.resources.settings.lock(|current| *current = *settings);
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}
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#[task(priority = 1, resources=[mqtt_config, digital_inputs, settings, telemetry], schedule=[telemetry])]
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fn telemetry(mut c: telemetry::Context) {
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let mut telemetry =
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c.resources.telemetry.lock(|telemetry| telemetry.clone());
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telemetry.digital_inputs = [
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c.resources.digital_inputs.0.is_high().unwrap(),
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c.resources.digital_inputs.1.is_high().unwrap(),
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];
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// Serialize telemetry outside of a critical section to prevent blocking the processing
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// task.
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let telemetry = miniconf::serde_json_core::to_string::<
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heapless::consts::U256,
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_,
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>(&telemetry)
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.unwrap();
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c.resources.mqtt_config.mqtt.client(|client| {
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// TODO: Incorporate current MQTT prefix instead of hard-coded value.
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client
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.publish(
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"dt/sinara/dual-iir/telemetry",
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telemetry.as_bytes(),
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minimq::QoS::AtMostOnce,
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&[],
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)
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.ok()
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});
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let telemetry_period = c
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.resources
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.settings
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.lock(|settings| settings.telemetry_period_secs);
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// Schedule the telemetry task in the future.
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c.schedule
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.telemetry(
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c.scheduled
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+ SystemTimer::ticks_from_secs(telemetry_period as u32),
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)
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.unwrap();
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}
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#[task(binds = ETH, priority = 1)]
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fn eth(_: eth::Context) {
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unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }
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@ -7,6 +7,9 @@ use core::fmt::Write;
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use heapless::{consts, String};
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use miniconf::minimq;
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mod telemetry;
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pub use telemetry::Telemetry;
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/// Potential actions for firmware to take.
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pub enum Action {
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/// Indicates that firmware can sleep for the next event.
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@ -0,0 +1,18 @@
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use serde::Serialize;
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#[derive(Serialize, Clone)]
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pub struct Telemetry {
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pub latest_samples: [i16; 2],
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pub latest_outputs: [i16; 2],
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pub digital_inputs: [bool; 2],
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}
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impl Default for Telemetry {
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fn default() -> Self {
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Self {
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latest_samples: [0, 0],
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latest_outputs: [0, 0],
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digital_inputs: [false, false],
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}
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}
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}
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