Refactoring telemetry to support binaries

src/bin/dual-iir.rs

@@ -5,7 +5,7 @@
 use stabilizer::{hardware, net};
 
 use miniconf::{minimq, Miniconf};
-use serde::{Deserialize, Serialize};
+use serde::Deserialize;
 
 use dsp::iir;
 use hardware::{
@@ -20,13 +20,6 @@ const SCALE: f32 = i16::MAX as _;
 // The number of cascaded IIR biquads per channel. Select 1 or 2!
 const IIR_CASCADE_LENGTH: usize = 1;
 
-#[derive(Serialize, Clone)]
-pub struct Telemetry {
-    latest_samples: [i16; 2],
-    latest_outputs: [i16; 2],
-    digital_inputs: [bool; 2],
-}
-
 #[derive(Clone, Copy, Debug, Deserialize, Miniconf)]
 pub struct Settings {
     afe: [AfeGain; 2],
@@ -48,17 +41,7 @@ impl Default for Settings {
     }
 }
 
-impl Default for Telemetry {
+#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = stabilizer::hardware::SystemTimer)]
-    fn default() -> Self {
-        Self {
-            latest_samples: [0, 0],
-            latest_outputs: [0, 0],
-            digital_inputs: [false, false],
-        }
-    }
-}
-
-#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = crate::hardware::SystemTimer)]
 const APP: () = {
     struct Resources {
         afes: (AFE0, AFE1),
@@ -66,7 +49,7 @@ const APP: () = {
         adcs: (Adc0Input, Adc1Input),
         dacs: (Dac0Output, Dac1Output),
         mqtt_config: MiniconfInterface<Settings>,
-        telemetry: Telemetry,
+        telemetry: net::Telemetry,
         settings: Settings,
 
         // Format: iir_state[ch][cascade-no][coeff]
@@ -107,7 +90,7 @@ const APP: () = {
             afes: stabilizer.afes,
             adcs: stabilizer.adcs,
             dacs: stabilizer.dacs,
-            telemetry: Telemetry::default(),
+            telemetry: net::Telemetry::default(),
             digital_inputs: stabilizer.digital_inputs,
             mqtt_config,
             settings: Settings::default(),

src/bin/lockin-internal.rs

@@ -1,143 +0,0 @@
-#![deny(warnings)]
-#![no_std]
-#![no_main]
-
-use dsp::{Accu, Complex, ComplexExt, Lockin};
-use generic_array::typenum::U2;
-use hardware::{Adc1Input, Dac0Output, Dac1Output, AFE0, AFE1};
-use stabilizer::{hardware, hardware::design_parameters};
-
-// 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; design_parameters::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),
-        adc: Adc1Input,
-        dacs: (Dac0Output, Dac1Output),
-
-        lockin: Lockin<U2>,
-    }
-
-    #[init]
-    fn init(c: init::Context) -> init::LateResources {
-        // Configure the microcontroller
-        let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
-
-        // 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: Lockin::default(),
-            afes: stabilizer.afes,
-            adc: stabilizer.adcs.1,
-            dacs: stabilizer.dacs,
-        }
-    }
-
-    /// Main DSP processing routine.
-    ///
-    /// See `dual-iir` for general notes on processing time and timing.
-    ///
-    /// This is an implementation of an internal-reference lockin on the ADC1 signal.
-    /// The reference at f_sample/8 is output on DAC0 and the phase of the demodulated
-    /// signal on DAC1.
-    #[task(binds=DMA1_STR4, resources=[adc, dacs, lockin], priority=2)]
-    fn process(c: process::Context) {
-        let lockin = c.resources.lockin;
-        let adc_samples = c.resources.adc.acquire_buffer();
-        let dac_samples = [
-            c.resources.dacs.0.acquire_buffer(),
-            c.resources.dacs.1.acquire_buffer(),
-        ];
-
-        // Reference phase and frequency are known.
-        let pll_phase = 0i32;
-        let pll_frequency =
-            1i32 << (32 - design_parameters::SAMPLE_BUFFER_SIZE_LOG2);
-
-        // Harmonic index of the LO: -1 to _de_modulate the fundamental (complex conjugate)
-        let harmonic: i32 = -1;
-
-        // Demodulation LO phase offset
-        let phase_offset: i32 = 1 << 30;
-
-        // Log2 lowpass time constant.
-        let time_constant: u8 = 8;
-
-        let sample_frequency = (pll_frequency as i32).wrapping_mul(harmonic);
-        let sample_phase =
-            phase_offset.wrapping_add(pll_phase.wrapping_mul(harmonic));
-
-        let output: Complex<i32> = 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)| {
-                let s = (sample as i16 as i32) << 16;
-                lockin.update(s, phase, time_constant)
-            })
-            // Decimate
-            .last()
-            .unwrap()
-            * 2; // Full scale assuming the 2f component is gone.
-
-        // Convert to DAC data.
-        for (i, data) in DAC_SEQUENCE.iter().enumerate() {
-            // DAC0 always generates a fixed sinusoidal output.
-            dac_samples[0][i] = *data as u16 ^ 0x8000;
-            dac_samples[1][i] = (output.arg() >> 16) as u16 ^ 0x8000;
-        }
-    }
-
-    #[idle(resources=[afes])]
-    fn idle(_: idle::Context) -> ! {
-        loop {
-            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();
-    }
-};

src/bin/lockin.rs

@@ -2,6 +2,7 @@
 #![no_std]
 #![no_main]
 
+use embedded_hal::digital::v2::InputPin;
 use generic_array::typenum::U4;
 
 use serde::Deserialize;
@@ -12,10 +13,11 @@ use stabilizer::net;
 
 use stabilizer::hardware::{
     design_parameters, setup, Adc0Input, Adc1Input, AfeGain, Dac0Output,
-    Dac1Output, InputStamper, AFE0, AFE1,
+    Dac1Output, DigitalInput0, DigitalInput1, InputStamper, SystemTimer, AFE0,
+    AFE1,
 };
 
-use miniconf::Miniconf;
+use miniconf::{minimq, Miniconf};
 use stabilizer::net::{Action, MiniconfInterface};
 
 #[derive(Copy, Clone, Debug, Deserialize, Miniconf)]
@@ -36,6 +38,7 @@ pub struct Settings {
     lockin_phase: i32,
 
     output_conf: [Conf; 2],
+    telemetry_period_secs: u16,
 }
 
 impl Default for Settings {
@@ -50,11 +53,12 @@ impl Default for Settings {
             lockin_phase: 0,     // Demodulation LO phase offset
 
             output_conf: [Conf::Quadrature; 2],
+            telemetry_period_secs: 10,
         }
     }
 }
 
-#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
+#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = stabilizer::hardware::SystemTimer)]
 const APP: () = {
     struct Resources {
         afes: (AFE0, AFE1),
@@ -62,13 +66,15 @@ const APP: () = {
         dacs: (Dac0Output, Dac1Output),
         mqtt_config: MiniconfInterface<Settings>,
         settings: Settings,
+        telemetry: net::Telemetry,
+        digital_inputs: (DigitalInput0, DigitalInput1),
 
         timestamper: InputStamper,
         pll: RPLL,
         lockin: Lockin<U4>,
     }
 
-    #[init(spawn=[settings_update])]
+    #[init(spawn=[settings_update, telemetry])]
     fn init(c: init::Context) -> init::LateResources {
         // Configure the microcontroller
         let (mut stabilizer, _pounder) = setup(c.core, c.device);
@@ -91,8 +97,9 @@ const APP: () = {
                 + design_parameters::SAMPLE_BUFFER_SIZE_LOG2,
         );
 
-        // Spawn a settings update for default settings.
+        // Spawn a settings and telemetry update for default settings.
         c.spawn.settings_update().unwrap();
+        c.spawn.telemetry().unwrap();
 
         // Enable ADC/DAC events
         stabilizer.adcs.0.start();
@@ -113,8 +120,10 @@ const APP: () = {
             afes: stabilizer.afes,
             adcs: stabilizer.adcs,
             dacs: stabilizer.dacs,
+            digital_inputs: stabilizer.digital_inputs,
             mqtt_config,
             timestamper: stabilizer.timestamper,
+            telemetry: net::Telemetry::default(),
 
             settings,
 
@@ -130,7 +139,7 @@ const APP: () = {
     /// 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, lockin, timestamper, pll, settings], priority=2)]
+    #[task(binds=DMA1_STR4, resources=[adcs, dacs, lockin, timestamper, pll, settings, telemetry], priority=2)]
     fn process(c: process::Context) {
         let adc_samples = [
             c.resources.adcs.0.acquire_buffer(),
@@ -193,6 +202,14 @@ const APP: () = {
             dac_samples[0][i] = (output[0] >> 16) as u16 ^ 0x8000;
             dac_samples[1][i] = (output[1] >> 16) as u16 ^ 0x8000;
         }
+
+        // Update telemetry measurements.
+        // TODO: Should we report these as voltages?
+        c.resources.telemetry.latest_samples =
+            [adc_samples[0][0] as i16, adc_samples[1][0] as i16];
+
+        c.resources.telemetry.latest_outputs =
+            [dac_samples[0][0] as i16, dac_samples[1][0] as i16];
     }
 
     #[idle(resources=[mqtt_config], spawn=[settings_update])]
@@ -222,6 +239,50 @@ const APP: () = {
         c.resources.settings.lock(|current| *current = *settings);
     }
 
+    #[task(priority = 1, resources=[mqtt_config, digital_inputs, settings, telemetry], schedule=[telemetry])]
+    fn telemetry(mut c: telemetry::Context) {
+        let mut telemetry =
+            c.resources.telemetry.lock(|telemetry| telemetry.clone());
+
+        telemetry.digital_inputs = [
+            c.resources.digital_inputs.0.is_high().unwrap(),
+            c.resources.digital_inputs.1.is_high().unwrap(),
+        ];
+
+        // Serialize telemetry outside of a critical section to prevent blocking the processing
+        // task.
+        let telemetry = miniconf::serde_json_core::to_string::<
+            heapless::consts::U256,
+            _,
+        >(&telemetry)
+        .unwrap();
+
+        c.resources.mqtt_config.mqtt.client(|client| {
+            // TODO: Incorporate current MQTT prefix instead of hard-coded value.
+            client
+                .publish(
+                    "dt/sinara/dual-iir/telemetry",
+                    telemetry.as_bytes(),
+                    minimq::QoS::AtMostOnce,
+                    &[],
+                )
+                .ok()
+        });
+
+        let telemetry_period = c
+            .resources
+            .settings
+            .lock(|settings| settings.telemetry_period_secs);
+
+        // Schedule the telemetry task in the future.
+        c.schedule
+            .telemetry(
+                c.scheduled
+                    + SystemTimer::ticks_from_secs(telemetry_period as u32),
+            )
+            .unwrap();
+    }
+
     #[task(binds = ETH, priority = 1)]
     fn eth(_: eth::Context) {
         unsafe { stm32h7xx_hal::ethernet::interrupt_handler() }

src/net/mod.rs

@@ -7,6 +7,9 @@ use core::fmt::Write;
 use heapless::{consts, String};
 use miniconf::minimq;
 
+mod telemetry;
+pub use telemetry::Telemetry;
+
 /// Potential actions for firmware to take.
 pub enum Action {
     /// Indicates that firmware can sleep for the next event.

src/net/telemetry.rs

@@ -0,0 +1,18 @@
+use serde::Serialize;
+
+#[derive(Serialize, Clone)]
+pub struct Telemetry {
+    pub latest_samples: [i16; 2],
+    pub latest_outputs: [i16; 2],
+    pub digital_inputs: [bool; 2],
+}
+
+impl Default for Telemetry {
+    fn default() -> Self {
+        Self {
+            latest_samples: [0, 0],
+            latest_outputs: [0, 0],
+            digital_inputs: [false, false],
+        }
+    }
+}