Merge pull request #165 from vertigo-designs/feature/dma-updates

Stabilizer asynchronous batch sampling support

Cargo.lock

@@ -192,6 +192,15 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "embedded-dma"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46c8c02e4347a0267ca60813c952017f4c5948c232474c6010a381a337f1bda4"
+dependencies = [
+ "stable_deref_trait",
+]
+
 [[package]]
 name = "embedded-hal"
 version = "0.2.4"
@@ -473,6 +482,7 @@ dependencies = [
  "nb 1.0.0",
  "panic-halt",
  "panic-semihosting",
+ "paste",
  "serde",
  "serde-json-core",
  "smoltcp",
@@ -500,12 +510,13 @@ dependencies = [
 [[package]]
 name = "stm32h7xx-hal"
 version = "0.8.0"
-source = "git+https://github.com/stm32-rs/stm32h7xx-hal#cbb31d0b6d0c8530437367032a600a4ff74657f7"
+source = "git+https://github.com/stm32-rs/stm32h7xx-hal?branch=dma#0bfeeca4ce120c1b7c6d140a7da73a4372b874d8"
 dependencies = [
  "bare-metal 1.0.0",
  "cast",
  "cortex-m",
  "cortex-m-rt",
+ "embedded-dma",
  "embedded-hal",
  "nb 1.0.0",
  "paste",

Cargo.toml

@@ -40,6 +40,7 @@ embedded-hal = "0.2.4"
 nb = "1.0.0"
 asm-delay = "0.9.0"
 enum-iterator = "0.6.0"
+paste = "1"
 dsp = { path = "dsp" }
 
 [dependencies.mcp23017]
@@ -56,6 +57,7 @@ path = "ad9959"
 [dependencies.stm32h7xx-hal]
 features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
 git = "https://github.com/stm32-rs/stm32h7xx-hal"
+branch = "dma"
 
 [features]
 semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]

memory.x

@@ -17,7 +17,7 @@ SECTIONS {
     *(.itcm .itcm.*);
     . = ALIGN(8);
     } > ITCM
-  .axisram : ALIGN(8) {
+  .axisram (NOLOAD) : ALIGN(8) {
     *(.axisram .axisram.*);
     . = ALIGN(8);
     } > AXISRAM

src/adc.rs

@@ -0,0 +1,384 @@
+///! Stabilizer ADC management interface
+///!
+///! The Stabilizer ADCs utilize a DMA channel to trigger sampling. The SPI streams are configured
+///! for full-duplex operation, but only RX is connected to physical pins. A timer channel is
+///! configured to generate a DMA write into the SPI TXFIFO, which initiates a SPI transfer and
+///! results in an ADC sample read for both channels.
+///!
+///! In order to read multiple samples without interrupting the CPU, a separate DMA transfer is
+///! configured to read from each of the ADC SPI RX FIFOs. Due to the design of the SPI peripheral,
+///! these DMA transfers stall when no data is available in the FIFO. Thus, the DMA transfer only
+///! completes after all samples have been read. When this occurs, a CPU interrupt is generated so
+///! that software can process the acquired samples from both ADCs. Only one of the ADC DMA streams
+///! is configured to generate an interrupt to handle both transfers, so it is necessary to ensure
+///! both transfers are completed before reading the data. This is usually not significant for
+///! busy-waiting because the transfers should complete at approximately the same time.
+use super::{
+    hal, sampling_timer, DMAReq, DmaConfig, MemoryToPeripheral,
+    PeripheralToMemory, Priority, TargetAddress, Transfer, SAMPLE_BUFFER_SIZE,
+};
+
+// The following data is written by the timer ADC sample trigger into each of the SPI TXFIFOs. Note
+// that because the SPI MOSI line is not connected, this data is dont-care. Data in AXI SRAM is not
+// initialized on boot, so the contents are random.
+#[link_section = ".axisram.buffers"]
+static mut SPI_START: [u16; 1] = [0x00];
+
+// The following global buffers are used for the ADC sample DMA transfers. Two buffers are used for
+// each transfer in a ping-pong buffer configuration (one is being acquired while the other is being
+// processed). Note that the contents of AXI SRAM is uninitialized, so the buffer contents on
+// startup are undefined.
+#[link_section = ".axisram.buffers"]
+static mut ADC0_BUF0: [u16; SAMPLE_BUFFER_SIZE] = [0; SAMPLE_BUFFER_SIZE];
+
+#[link_section = ".axisram.buffers"]
+static mut ADC0_BUF1: [u16; SAMPLE_BUFFER_SIZE] = [0; SAMPLE_BUFFER_SIZE];
+
+#[link_section = ".axisram.buffers"]
+static mut ADC1_BUF0: [u16; SAMPLE_BUFFER_SIZE] = [0; SAMPLE_BUFFER_SIZE];
+
+#[link_section = ".axisram.buffers"]
+static mut ADC1_BUF1: [u16; SAMPLE_BUFFER_SIZE] = [0; SAMPLE_BUFFER_SIZE];
+
+/// SPI2 is used as a ZST (zero-sized type) for indicating a DMA transfer into the SPI2 TX FIFO
+/// whenever the tim2 update dma request occurs.
+struct SPI2 {
+    _channel: sampling_timer::tim2::Channel1,
+}
+impl SPI2 {
+    pub fn new(_channel: sampling_timer::tim2::Channel1) -> Self {
+        Self { _channel }
+    }
+}
+
+// Note(unsafe): This structure is only safe to instantiate once. The DMA request is hard-coded and
+// may only be used if ownership of the timer2 channel 1 compare channel is assured, which is
+// ensured by maintaining ownership of the channel.
+unsafe impl TargetAddress<MemoryToPeripheral> for SPI2 {
+    /// SPI2 is configured to operate using 16-bit transfer words.
+    type MemSize = u16;
+
+    /// SPI2 DMA requests are generated whenever TIM2 CH1 comparison occurs.
+    const REQUEST_LINE: Option<u8> = Some(DMAReq::TIM2_CH1 as u8);
+
+    /// Whenever the DMA request occurs, it should write into SPI2's TX FIFO to start a DMA
+    /// transfer.
+    fn address(&self) -> u32 {
+        // Note(unsafe): It is assumed that SPI2 is owned by another DMA transfer and this DMA is
+        // only used for the transmit-half of DMA.
+        let regs = unsafe { &*hal::stm32::SPI2::ptr() };
+        &regs.txdr as *const _ as u32
+    }
+}
+
+/// SPI3 is used as a ZST (zero-sized type) for indicating a DMA transfer into the SPI3 TX FIFO
+/// whenever the tim2 update dma request occurs.
+struct SPI3 {
+    _channel: sampling_timer::tim2::Channel2,
+}
+impl SPI3 {
+    pub fn new(_channel: sampling_timer::tim2::Channel2) -> Self {
+        Self { _channel }
+    }
+}
+
+// Note(unsafe): This structure is only safe to instantiate once. The DMA request is hard-coded and
+// may only be used if ownership of the timer2 channel 2 compare channel is assured, which is
+// ensured by maintaining ownership of the channel.
+unsafe impl TargetAddress<MemoryToPeripheral> for SPI3 {
+    /// SPI3 is configured to operate using 16-bit transfer words.
+    type MemSize = u16;
+
+    /// SPI3 DMA requests are generated whenever TIM2 CH2 comparison occurs.
+    const REQUEST_LINE: Option<u8> = Some(DMAReq::TIM2_CH2 as u8);
+
+    /// Whenever the DMA request occurs, it should write into SPI3's TX FIFO to start a DMA
+    /// transfer.
+    fn address(&self) -> u32 {
+        // Note(unsafe): It is assumed that SPI3 is owned by another DMA transfer and this DMA is
+        // only used for the transmit-half of DMA.
+        let regs = unsafe { &*hal::stm32::SPI3::ptr() };
+        &regs.txdr as *const _ as u32
+    }
+}
+
+/// Represents both ADC input channels.
+pub struct AdcInputs {
+    adc0: Adc0Input,
+    adc1: Adc1Input,
+}
+
+impl AdcInputs {
+    /// Construct the ADC inputs.
+    pub fn new(adc0: Adc0Input, adc1: Adc1Input) -> Self {
+        Self { adc0, adc1 }
+    }
+
+    /// Interrupt handler to handle when the sample collection DMA transfer completes.
+    ///
+    /// # Returns
+    /// (adc0, adc1) where adcN is a reference to the collected ADC samples. Two array references
+    /// are returned - one for each ADC sample stream.
+    pub fn transfer_complete_handler(
+        &mut self,
+    ) -> (&[u16; SAMPLE_BUFFER_SIZE], &[u16; SAMPLE_BUFFER_SIZE]) {
+        let adc0_buffer = self.adc0.transfer_complete_handler();
+        let adc1_buffer = self.adc1.transfer_complete_handler();
+        (adc0_buffer, adc1_buffer)
+    }
+}
+
+/// Represents data associated with ADC0.
+pub struct Adc0Input {
+    next_buffer: Option<&'static mut [u16; SAMPLE_BUFFER_SIZE]>,
+    transfer: Transfer<
+        hal::dma::dma::Stream1<hal::stm32::DMA1>,
+        hal::spi::Spi<hal::stm32::SPI2, hal::spi::Disabled, u16>,
+        PeripheralToMemory,
+        &'static mut [u16; SAMPLE_BUFFER_SIZE],
+    >,
+    _trigger_transfer: Transfer<
+        hal::dma::dma::Stream0<hal::stm32::DMA1>,
+        SPI2,
+        MemoryToPeripheral,
+        &'static mut [u16; 1],
+    >,
+}
+
+impl Adc0Input {
+    /// Construct the ADC0 input channel.
+    ///
+    /// # Args
+    /// * `spi` - The SPI interface used to communicate with the ADC.
+    /// * `trigger_stream` - The DMA stream used to trigger each ADC transfer by writing a word into
+    ///   the SPI TX FIFO.
+    /// * `data_stream` - The DMA stream used to read samples received over SPI into a data buffer.
+    /// * `_trigger_channel` - The ADC sampling timer output compare channel for read triggers.
+    pub fn new(
+        spi: hal::spi::Spi<hal::stm32::SPI2, hal::spi::Enabled, u16>,
+        trigger_stream: hal::dma::dma::Stream0<hal::stm32::DMA1>,
+        data_stream: hal::dma::dma::Stream1<hal::stm32::DMA1>,
+        trigger_channel: sampling_timer::tim2::Channel1,
+    ) -> Self {
+        // Generate DMA events when an output compare of the timer hitting zero (timer roll over)
+        // occurs.
+        trigger_channel.listen_dma();
+        trigger_channel.to_output_compare(0);
+
+        // The trigger stream constantly writes to the TX FIFO using a static word (dont-care
+        // contents). Thus, neither the memory or peripheral address ever change. This is run in
+        // circular mode to be completed at every DMA request.
+        let trigger_config = DmaConfig::default()
+            .priority(Priority::High)
+            .circular_buffer(true);
+
+        // Construct the trigger stream to write from memory to the peripheral.
+        let mut trigger_transfer: Transfer<_, _, MemoryToPeripheral, _> =
+            Transfer::init(
+                trigger_stream,
+                SPI2::new(trigger_channel),
+                // Note(unsafe): Because this is a Memory->Peripheral transfer, this data is never
+                // actually modified. It technically only needs to be immutably borrowed, but the
+                // current HAL API only supports mutable borrows.
+                unsafe { &mut SPI_START },
+                None,
+                trigger_config,
+            );
+
+        // The data stream constantly reads from the SPI RX FIFO into a RAM buffer. The peripheral
+        // stalls reads of the SPI RX FIFO until data is available, so the DMA transfer completes
+        // after the requested number of samples have been collected. Note that only ADC1's data
+        // stream is used to trigger a transfer completion interrupt.
+        let data_config = DmaConfig::default()
+            .memory_increment(true)
+            .priority(Priority::VeryHigh);
+
+        // A SPI peripheral error interrupt is used to determine if the RX FIFO overflows. This
+        // indicates that samples were dropped due to excessive processing time in the main
+        // application (e.g. a second DMA transfer completes before the first was done with
+        // processing). This is used as a flow control indicator to guarantee that no ADC samples
+        // are lost.
+        let mut spi = spi.disable();
+        spi.listen(hal::spi::Event::Error);
+
+        // The data transfer is always a transfer of data from the peripheral to a RAM buffer.
+        let mut data_transfer: Transfer<_, _, PeripheralToMemory, _> =
+            Transfer::init(
+                data_stream,
+                spi,
+                // Note(unsafe): The ADC0_BUF0 is "owned" by this peripheral. It shall not be used
+                // anywhere else in the module.
+                unsafe { &mut ADC0_BUF0 },
+                None,
+                data_config,
+            );
+
+        data_transfer.start(|spi| {
+            // Allow the SPI FIFOs to operate using only DMA data channels.
+            spi.enable_dma_rx();
+            spi.enable_dma_tx();
+
+            // Enable SPI and start it in infinite transaction mode.
+            spi.inner().cr1.modify(|_, w| w.spe().set_bit());
+            spi.inner().cr1.modify(|_, w| w.cstart().started());
+        });
+
+        trigger_transfer.start(|_| {});
+
+        Self {
+            // Note(unsafe): The ADC0_BUF1 is "owned" by this peripheral. It shall not be used
+            // anywhere else in the module.
+            next_buffer: unsafe { Some(&mut ADC0_BUF1) },
+            transfer: data_transfer,
+            _trigger_transfer: trigger_transfer,
+        }
+    }
+
+    /// Handle a transfer completion.
+    ///
+    /// # Returns
+    /// A reference to the underlying buffer that has been filled with ADC samples.
+    pub fn transfer_complete_handler(&mut self) -> &[u16; SAMPLE_BUFFER_SIZE] {
+        let next_buffer = self.next_buffer.take().unwrap();
+
+        // Wait for the transfer to fully complete before continuing.
+        // Note: If a device hangs up, check that this conditional is passing correctly, as there is
+        // no time-out checks here in the interest of execution speed.
+        while self.transfer.get_transfer_complete_flag() == false {}
+
+        // Start the next transfer.
+        self.transfer.clear_interrupts();
+        let (prev_buffer, _) =
+            self.transfer.next_transfer(next_buffer).unwrap();
+
+        self.next_buffer.replace(prev_buffer);
+        self.next_buffer.as_ref().unwrap()
+    }
+}
+
+/// Represents the data input stream from ADC1
+pub struct Adc1Input {
+    next_buffer: Option<&'static mut [u16; SAMPLE_BUFFER_SIZE]>,
+    transfer: Transfer<
+        hal::dma::dma::Stream3<hal::stm32::DMA1>,
+        hal::spi::Spi<hal::stm32::SPI3, hal::spi::Disabled, u16>,
+        PeripheralToMemory,
+        &'static mut [u16; SAMPLE_BUFFER_SIZE],
+    >,
+    _trigger_transfer: Transfer<
+        hal::dma::dma::Stream2<hal::stm32::DMA1>,
+        SPI3,
+        MemoryToPeripheral,
+        &'static mut [u16; 1],
+    >,
+}
+
+impl Adc1Input {
+    /// Construct a new ADC1 input data stream.
+    ///
+    /// # Args
+    /// * `spi` - The SPI interface connected to ADC1.
+    /// * `trigger_stream` - The DMA stream used to trigger ADC conversions on the SPI interface.
+    /// * `data_stream` - The DMA stream used to read ADC samples from the SPI RX FIFO.
+    /// * `trigger_channel` - The ADC sampling timer output compare channel for read triggers.
+    pub fn new(
+        spi: hal::spi::Spi<hal::stm32::SPI3, hal::spi::Enabled, u16>,
+        trigger_stream: hal::dma::dma::Stream2<hal::stm32::DMA1>,
+        data_stream: hal::dma::dma::Stream3<hal::stm32::DMA1>,
+        trigger_channel: sampling_timer::tim2::Channel2,
+    ) -> Self {
+        // Generate DMA events when an output compare of the timer hitting zero (timer roll over)
+        // occurs.
+        trigger_channel.listen_dma();
+        trigger_channel.to_output_compare(0);
+
+        // The trigger stream constantly writes to the TX FIFO using a static word (dont-care
+        // contents). Thus, neither the memory or peripheral address ever change. This is run in
+        // circular mode to be completed at every DMA request.
+        let trigger_config = DmaConfig::default()
+            .priority(Priority::High)
+            .circular_buffer(true);
+
+        // Construct the trigger stream to write from memory to the peripheral.
+        let mut trigger_transfer: Transfer<_, _, MemoryToPeripheral, _> =
+            Transfer::init(
+                trigger_stream,
+                SPI3::new(trigger_channel),
+                // Note(unsafe). This transaction is read-only and SPI_START is a dont-care value,
+                // so it is always safe to share.
+                unsafe { &mut SPI_START },
+                None,
+                trigger_config,
+            );
+
+        // The data stream constantly reads from the SPI RX FIFO into a RAM buffer. The peripheral
+        // stalls reads of the SPI RX FIFO until data is available, so the DMA transfer completes
+        // after the requested number of samples have been collected. Note that only ADC1's data
+        // stream is used to trigger a transfer completion interrupt.
+        let data_config = DmaConfig::default()
+            .memory_increment(true)
+            .transfer_complete_interrupt(true)
+            .priority(Priority::VeryHigh);
+
+        // A SPI peripheral error interrupt is used to determine if the RX FIFO overflows. This
+        // indicates that samples were dropped due to excessive processing time in the main
+        // application (e.g. a second DMA transfer completes before the first was done with
+        // processing). This is used as a flow control indicator to guarantee that no ADC samples
+        // are lost.
+        let mut spi = spi.disable();
+        spi.listen(hal::spi::Event::Error);
+
+        // The data transfer is always a transfer of data from the peripheral to a RAM buffer.
+        let mut data_transfer: Transfer<_, _, PeripheralToMemory, _> =
+            Transfer::init(
+                data_stream,
+                spi,
+                // Note(unsafe): The ADC1_BUF0 is "owned" by this peripheral. It shall not be used
+                // anywhere else in the module.
+                unsafe { &mut ADC1_BUF0 },
+                None,
+                data_config,
+            );
+
+        data_transfer.start(|spi| {
+            // Allow the SPI FIFOs to operate using only DMA data channels.
+            spi.enable_dma_rx();
+            spi.enable_dma_tx();
+
+            // Enable SPI and start it in infinite transaction mode.
+            spi.inner().cr1.modify(|_, w| w.spe().set_bit());
+            spi.inner().cr1.modify(|_, w| w.cstart().started());
+        });
+
+        trigger_transfer.start(|_| {});
+
+        Self {
+            // Note(unsafe): The ADC1_BUF1 is "owned" by this peripheral. It shall not be used
+            // anywhere else in the module.
+            next_buffer: unsafe { Some(&mut ADC1_BUF1) },
+            transfer: data_transfer,
+            _trigger_transfer: trigger_transfer,
+        }
+    }
+
+    /// Handle a transfer completion.
+    ///
+    /// # Returns
+    /// A reference to the underlying buffer that has been filled with ADC samples.
+    pub fn transfer_complete_handler(&mut self) -> &[u16; SAMPLE_BUFFER_SIZE] {
+        let next_buffer = self.next_buffer.take().unwrap();
+
+        // Wait for the transfer to fully complete before continuing.
+        // Note: If a device hangs up, check that this conditional is passing correctly, as there is
+        // no time-out checks here in the interest of execution speed.
+        while self.transfer.get_transfer_complete_flag() == false {}
+
+        // Start the next transfer.
+        self.transfer.clear_interrupts();
+        let (prev_buffer, _) =
+            self.transfer.next_transfer(next_buffer).unwrap();
+
+        self.next_buffer.replace(prev_buffer);
+        self.next_buffer.as_ref().unwrap()
+    }
+}

src/dac.rs

@@ -0,0 +1,316 @@
+///! Stabilizer DAC management interface
+///!
+///! The Stabilizer DAC utilize a DMA channel to generate output updates.  A timer channel is
+///! configured to generate a DMA write into the SPI TXFIFO, which initiates a SPI transfer and
+///! results in DAC update for both channels.
+use super::{
+    hal, sampling_timer, DMAReq, DmaConfig, MemoryToPeripheral, TargetAddress,
+    Transfer, SAMPLE_BUFFER_SIZE,
+};
+
+// The following global buffers are used for the DAC code DMA transfers. Two buffers are used for
+// each transfer in a ping-pong buffer configuration (one is being prepared while the other is being
+// processed). Note that the contents of AXI SRAM is uninitialized, so the buffer contents on
+// startup are undefined.
+#[link_section = ".axisram.buffers"]
+static mut DAC0_BUF0: [u16; SAMPLE_BUFFER_SIZE] = [0; SAMPLE_BUFFER_SIZE];
+
+#[link_section = ".axisram.buffers"]
+static mut DAC0_BUF1: [u16; SAMPLE_BUFFER_SIZE] = [0; SAMPLE_BUFFER_SIZE];
+
+#[link_section = ".axisram.buffers"]
+static mut DAC1_BUF0: [u16; SAMPLE_BUFFER_SIZE] = [0; SAMPLE_BUFFER_SIZE];
+
+#[link_section = ".axisram.buffers"]
+static mut DAC1_BUF1: [u16; SAMPLE_BUFFER_SIZE] = [0; SAMPLE_BUFFER_SIZE];
+
+/// SPI4 is used as a type for indicating a DMA transfer into the SPI4 TX FIFO
+struct SPI4 {
+    spi: hal::spi::Spi<hal::stm32::SPI4, hal::spi::Disabled, u16>,
+    _channel: sampling_timer::tim2::Channel3,
+}
+
+impl SPI4 {
+    pub fn new(
+        _channel: sampling_timer::tim2::Channel3,
+        spi: hal::spi::Spi<hal::stm32::SPI4, hal::spi::Disabled, u16>,
+    ) -> Self {
+        Self { _channel, spi }
+    }
+}
+
+// Note(unsafe): This is safe because the DMA request line is logically owned by this module.
+// Additionally, the SPI is owned by this structure and is known to be configured for u16 word
+// sizes.
+unsafe impl TargetAddress<MemoryToPeripheral> for SPI4 {
+    /// SPI2 is configured to operate using 16-bit transfer words.
+    type MemSize = u16;
+
+    /// SPI4 DMA requests are generated whenever TIM2 CH3 comparison occurs.
+    const REQUEST_LINE: Option<u8> = Some(DMAReq::TIM2_CH3 as u8);
+
+    /// Whenever the DMA request occurs, it should write into SPI4's TX FIFO.
+    fn address(&self) -> u32 {
+        &self.spi.inner().txdr as *const _ as u32
+    }
+}
+
+/// SPI5 is used as a ZST (zero-sized type) for indicating a DMA transfer into the SPI5 TX FIFO
+struct SPI5 {
+    _channel: sampling_timer::tim2::Channel4,
+    spi: hal::spi::Spi<hal::stm32::SPI5, hal::spi::Disabled, u16>,
+}
+
+impl SPI5 {
+    pub fn new(
+        _channel: sampling_timer::tim2::Channel4,
+        spi: hal::spi::Spi<hal::stm32::SPI5, hal::spi::Disabled, u16>,
+    ) -> Self {
+        Self { _channel, spi }
+    }
+}
+
+// Note(unsafe): This is safe because the DMA request line is logically owned by this module.
+// Additionally, the SPI is owned by this structure and is known to be configured for u16 word
+// sizes.
+unsafe impl TargetAddress<MemoryToPeripheral> for SPI5 {
+    /// SPI5 is configured to operate using 16-bit transfer words.
+    type MemSize = u16;
+
+    /// SPI5 DMA requests are generated whenever TIM2 CH4 comparison occurs.
+    const REQUEST_LINE: Option<u8> = Some(DMAReq::TIM2_CH4 as u8);
+
+    /// Whenever the DMA request occurs, it should write into SPI5's TX FIFO
+    fn address(&self) -> u32 {
+        &self.spi.inner().txdr as *const _ as u32
+    }
+}
+
+/// Represents both DAC output channels.
+pub struct DacOutputs {
+    dac0: Dac0Output,
+    dac1: Dac1Output,
+}
+
+impl DacOutputs {
+    /// Construct the DAC outputs.
+    pub fn new(dac0: Dac0Output, dac1: Dac1Output) -> Self {
+        Self { dac0, dac1 }
+    }
+
+    /// Borrow the next DAC output buffers to populate the DAC output codes in-place.
+    ///
+    /// # Returns
+    /// (dac0, dac1) where each value is a mutable reference to the output code array for DAC0 and
+    /// DAC1 respectively.
+    pub fn prepare_data(
+        &mut self,
+    ) -> (
+        &mut [u16; SAMPLE_BUFFER_SIZE],
+        &mut [u16; SAMPLE_BUFFER_SIZE],
+    ) {
+        (self.dac0.prepare_buffer(), self.dac1.prepare_buffer())
+    }
+
+    /// Enqueue the next DAC output codes for transmission.
+    ///
+    /// # Note
+    /// It is assumed that data was populated using `prepare_data()` before this function is
+    /// called.
+    pub fn commit_data(&mut self) {
+        self.dac0.commit_buffer();
+        self.dac1.commit_buffer();
+    }
+}
+
+/// Represents data associated with DAC0.
+pub struct Dac0Output {
+    next_buffer: Option<&'static mut [u16; SAMPLE_BUFFER_SIZE]>,
+    // Note: SPI TX functionality may not be used from this structure to ensure safety with DMA.
+    transfer: Transfer<
+        hal::dma::dma::Stream4<hal::stm32::DMA1>,
+        SPI4,
+        MemoryToPeripheral,
+        &'static mut [u16; SAMPLE_BUFFER_SIZE],
+    >,
+    first_transfer: bool,
+}
+
+impl Dac0Output {
+    /// Construct the DAC0 output channel.
+    ///
+    /// # Args
+    /// * `spi` - The SPI interface used to communicate with the ADC.
+    /// * `stream` - The DMA stream used to write DAC codes over SPI.
+    /// * `trigger_channel` - The sampling timer output compare channel for update triggers.
+    pub fn new(
+        spi: hal::spi::Spi<hal::stm32::SPI4, hal::spi::Enabled, u16>,
+        stream: hal::dma::dma::Stream4<hal::stm32::DMA1>,
+        trigger_channel: sampling_timer::tim2::Channel3,
+    ) -> Self {
+        // Generate DMA events when an output compare of the timer hitting zero (timer roll over)
+        // occurs.
+        trigger_channel.listen_dma();
+        trigger_channel.to_output_compare(0);
+
+        // The stream constantly writes to the TX FIFO to write new update codes.
+        let trigger_config = DmaConfig::default()
+            .memory_increment(true)
+            .peripheral_increment(false);
+
+        // Listen for any potential SPI error signals, which may indicate that we are not generating
+        // update codes.
+        let mut spi = spi.disable();
+        spi.listen(hal::spi::Event::Error);
+
+        // Allow the SPI FIFOs to operate using only DMA data channels.
+        spi.enable_dma_tx();
+
+        // Enable SPI and start it in infinite transaction mode.
+        spi.inner().cr1.modify(|_, w| w.spe().set_bit());
+        spi.inner().cr1.modify(|_, w| w.cstart().started());
+
+        // Construct the trigger stream to write from memory to the peripheral.
+        let transfer: Transfer<_, _, MemoryToPeripheral, _> = Transfer::init(
+            stream,
+            SPI4::new(trigger_channel, spi),
+            // Note(unsafe): This buffer is only used once and provided for the DMA transfer.
+            unsafe { &mut DAC0_BUF0 },
+            None,
+            trigger_config,
+        );
+
+        Self {
+            transfer,
+            // Note(unsafe): This buffer is only used once and provided for the next DMA transfer.
+            next_buffer: unsafe { Some(&mut DAC0_BUF1) },
+            first_transfer: true,
+        }
+    }
+
+    /// Mutably borrow the next output buffer to populate it with DAC codes.
+    pub fn prepare_buffer(&mut self) -> &mut [u16; SAMPLE_BUFFER_SIZE] {
+        self.next_buffer.as_mut().unwrap()
+    }
+
+    /// Enqueue the next buffer for transmission to the DAC.
+    ///
+    /// # Args
+    /// * `data` - The next data to write to the DAC.
+    pub fn commit_buffer(&mut self) {
+        let next_buffer = self.next_buffer.take().unwrap();
+
+        // If the last transfer was not complete, we didn't write all our previous DAC codes.
+        // Wait for all the DAC codes to get written as well.
+        if self.first_transfer {
+            self.first_transfer = false
+        } else {
+            // Note: If a device hangs up, check that this conditional is passing correctly, as
+            // there is no time-out checks here in the interest of execution speed.
+            while self.transfer.get_transfer_complete_flag() == false {}
+        }
+
+        // Start the next transfer.
+        self.transfer.clear_interrupts();
+        let (prev_buffer, _) =
+            self.transfer.next_transfer(next_buffer).unwrap();
+
+        self.next_buffer.replace(prev_buffer);
+    }
+}
+
+/// Represents the data output stream from DAC1.
+pub struct Dac1Output {
+    next_buffer: Option<&'static mut [u16; SAMPLE_BUFFER_SIZE]>,
+    transfer: Transfer<
+        hal::dma::dma::Stream5<hal::stm32::DMA1>,
+        SPI5,
+        MemoryToPeripheral,
+        &'static mut [u16; SAMPLE_BUFFER_SIZE],
+    >,
+    first_transfer: bool,
+}
+
+impl Dac1Output {
+    /// Construct a new DAC1 output data stream.
+    ///
+    /// # Args
+    /// * `spi` - The SPI interface connected to DAC1.
+    /// * `stream` - The DMA stream used to write DAC codes the SPI TX FIFO.
+    /// * `trigger_channel` - The timer channel used to generate DMA requests for DAC updates.
+    pub fn new(
+        spi: hal::spi::Spi<hal::stm32::SPI5, hal::spi::Enabled, u16>,
+        stream: hal::dma::dma::Stream5<hal::stm32::DMA1>,
+        trigger_channel: sampling_timer::tim2::Channel4,
+    ) -> Self {
+        // Generate DMA events when an output compare of the timer hitting zero (timer roll over)
+        // occurs.
+        trigger_channel.listen_dma();
+        trigger_channel.to_output_compare(0);
+
+        // The trigger stream constantly writes to the TX FIFO to generate DAC updates.
+        let trigger_config = DmaConfig::default()
+            .memory_increment(true)
+            .peripheral_increment(false)
+            .circular_buffer(true);
+
+        // Listen for any SPI errors, as this may indicate that we are not generating updates on the
+        // DAC.
+        let mut spi = spi.disable();
+        spi.listen(hal::spi::Event::Error);
+
+        // Allow the SPI FIFOs to operate using only DMA data channels.
+        spi.enable_dma_tx();
+
+        // Enable SPI and start it in infinite transaction mode.
+        spi.inner().cr1.modify(|_, w| w.spe().set_bit());
+        spi.inner().cr1.modify(|_, w| w.cstart().started());
+
+        // Construct the stream to write from memory to the peripheral.
+        let transfer: Transfer<_, _, MemoryToPeripheral, _> = Transfer::init(
+            stream,
+            SPI5::new(trigger_channel, spi),
+            // Note(unsafe): This buffer is only used once and provided to the transfer.
+            unsafe { &mut DAC1_BUF0 },
+            None,
+            trigger_config,
+        );
+
+        Self {
+            // Note(unsafe): This buffer is only used once and provided for the next DMA transfer.
+            next_buffer: unsafe { Some(&mut DAC1_BUF1) },
+            transfer,
+            first_transfer: true,
+        }
+    }
+
+    /// Mutably borrow the next output buffer to populate it with DAC codes.
+    pub fn prepare_buffer(&mut self) -> &mut [u16; SAMPLE_BUFFER_SIZE] {
+        self.next_buffer.as_mut().unwrap()
+    }
+
+    /// Enqueue the next buffer for transmission to the DAC.
+    ///
+    /// # Args
+    /// * `data` - The next data to write to the DAC.
+    pub fn commit_buffer(&mut self) {
+        let next_buffer = self.next_buffer.take().unwrap();
+
+        // If the last transfer was not complete, we didn't write all our previous DAC codes.
+        // Wait for all the DAC codes to get written as well.
+        if self.first_transfer {
+            self.first_transfer = false
+        } else {
+            // Note: If a device hangs up, check that this conditional is passing correctly, as
+            // there is no time-out checks here in the interest of execution speed.
+            while self.transfer.get_transfer_complete_flag() == false {}
+        }
+
+        // Start the next transfer.
+        self.transfer.clear_interrupts();
+        let (prev_buffer, _) =
+            self.transfer.next_transfer(next_buffer).unwrap();
+
+        self.next_buffer.replace(prev_buffer);
+    }
+}

src/design_parameters.rs

@@ -0,0 +1,6 @@
+/// The ADC setup time is the number of seconds after the CSn line goes low before the serial clock
+/// may begin. This is used for performing the internal ADC conversion.
+pub const ADC_SETUP_TIME: f32 = 220e-9;
+
+/// The maximum DAC/ADC serial clock line frequency. This is a hardware limit.
+pub const ADC_DAC_SCK_MHZ_MAX: u32 = 50;

src/main.rs

@@ -1,6 +1,4 @@
 #![deny(warnings)]
-// Deprecation warnings are temporarily allowed as the HAL DMA goes through updates.
-#![allow(deprecated)]
 #![allow(clippy::missing_safety_doc)]
 #![no_std]
 #![no_main]
@@ -38,9 +36,13 @@ use stm32h7xx_hal::prelude::*;
 use embedded_hal::digital::v2::{InputPin, OutputPin};
 
 use hal::{
-    dma::{DmaChannel, DmaExt, DmaInternal},
+    dma::{
+        config::Priority,
+        dma::{DMAReq, DmaConfig},
+        traits::TargetAddress,
+        MemoryToPeripheral, PeripheralToMemory, Transfer,
+    },
     ethernet::{self, PHY},
-    rcc::rec::ResetEnable,
 };
 
 use smoltcp as net;
@@ -49,14 +51,26 @@ use smoltcp::wire::Ipv4Address;
 
 use heapless::{consts::*, String};
 
+// The desired sampling frequency of the ADCs.
+const SAMPLE_FREQUENCY_KHZ: u32 = 500;
+
+// The desired ADC sample processing buffer size.
+const SAMPLE_BUFFER_SIZE: usize = 1;
+
 #[link_section = ".sram3.eth"]
 static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
 
+mod adc;
 mod afe;
+mod dac;
+mod design_parameters;
 mod eeprom;
 mod pounder;
+mod sampling_timer;
 mod server;
 
+use adc::{Adc0Input, Adc1Input, AdcInputs};
+use dac::{Dac0Output, Dac1Output, DacOutputs};
 use dsp::iir;
 
 #[cfg(not(feature = "semihosting"))]
@@ -102,8 +116,6 @@ static mut NET_STORE: NetStorage = NetStorage {
 
 const SCALE: f32 = ((1 << 15) - 1) as f32;
 
-const SPI_START: u32 = 0x00;
-
 // static ETHERNET_PENDING: AtomicBool = AtomicBool::new(true);
 
 const TCP_RX_BUFFER_SIZE: usize = 8192;
@@ -173,17 +185,13 @@ macro_rules! route_request {
 #[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
 const APP: () = {
     struct Resources {
-        adc0: hal::spi::Spi<hal::stm32::SPI2, hal::spi::Enabled, u16>,
-        dac0: hal::spi::Spi<hal::stm32::SPI4, hal::spi::Enabled, u16>,
         afe0: AFE0,
-
-        adc1: hal::spi::Spi<hal::stm32::SPI3, hal::spi::Enabled, u16>,
-        dac1: hal::spi::Spi<hal::stm32::SPI5, hal::spi::Enabled, u16>,
         afe1: AFE1,
 
-        eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>,
+        adcs: AdcInputs,
+        dacs: DacOutputs,
 
-        timer: hal::timer::Timer<hal::stm32::TIM2>,
+        eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>,
 
         // Note: It appears that rustfmt generates a format that GDB cannot recognize, which
         // results in GDB breakpoints being set improperly.
@@ -257,207 +265,183 @@ const APP: () = {
             afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
         };
 
-        ccdr.peripheral.DMA1.reset().enable();
+        let dma_streams =
-        let mut dma_channels = dp.DMA1.split();
+            hal::dma::dma::StreamsTuple::new(dp.DMA1, ccdr.peripheral.DMA1);
+
+        // Configure timer 2 to trigger conversions for the ADC
+        let timer2 = dp.TIM2.timer(
+            SAMPLE_FREQUENCY_KHZ.khz(),
+            ccdr.peripheral.TIM2,
+            &ccdr.clocks,
+        );
+
+        let mut sampling_timer = sampling_timer::SamplingTimer::new(timer2);
+        let sampling_timer_channels = sampling_timer.channels();
 
         // Configure the SPI interfaces to the ADCs and DACs.
-        let adc0_spi = {
+        let adcs = {
-            let spi_miso = gpiob
+            let adc0 = {
-                .pb14
+                let spi_miso = gpiob
-                .into_alternate_af5()
+                    .pb14
-                .set_speed(hal::gpio::Speed::VeryHigh);
+                    .into_alternate_af5()
-            let spi_sck = gpiob
+                    .set_speed(hal::gpio::Speed::VeryHigh);
-                .pb10
+                let spi_sck = gpiob
-                .into_alternate_af5()
+                    .pb10
-                .set_speed(hal::gpio::Speed::VeryHigh);
+                    .into_alternate_af5()
-            let _spi_nss = gpiob
+                    .set_speed(hal::gpio::Speed::VeryHigh);
-                .pb9
+                let _spi_nss = gpiob
-                .into_alternate_af5()
+                    .pb9
-                .set_speed(hal::gpio::Speed::VeryHigh);
+                    .into_alternate_af5()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
 
-            let config = hal::spi::Config::new(hal::spi::Mode {
+                let config = hal::spi::Config::new(hal::spi::Mode {
-                polarity: hal::spi::Polarity::IdleHigh,
+                    polarity: hal::spi::Polarity::IdleHigh,
-                phase: hal::spi::Phase::CaptureOnSecondTransition,
+                    phase: hal::spi::Phase::CaptureOnSecondTransition,
-            })
+                })
-            .manage_cs()
+                .manage_cs()
-            .suspend_when_inactive()
+                .suspend_when_inactive()
-            .cs_delay(220e-9);
+                .cs_delay(design_parameters::ADC_SETUP_TIME);
 
-            dma_channels.0.set_peripheral_address(
+                let spi: hal::spi::Spi<_, _, u16> = dp.SPI2.spi(
-                &dp.SPI2.txdr as *const _ as u32,
+                    (spi_sck, spi_miso, hal::spi::NoMosi),
-                false,
+                    config,
-            );
+                    design_parameters::ADC_DAC_SCK_MHZ_MAX.mhz(),
-            dma_channels
+                    ccdr.peripheral.SPI2,
-                .0
+                    &ccdr.clocks,
-                .set_memory_address(&SPI_START as *const _ as u32, false);
+                );
-            dma_channels
-                .0
-                .set_direction(hal::dma::Direction::MemoryToPeripherial);
-            dma_channels.0.set_transfer_length(1);
-            dma_channels.0.cr().modify(|_, w| {
-                w.circ()
-                    .enabled()
-                    .psize()
-                    .bits16()
-                    .msize()
-                    .bits16()
-                    .pfctrl()
-                    .dma()
-            });
-            dma_channels.0.dmamux().modify(|_, w| {
-                w.dmareq_id()
-                    .variant(hal::stm32::dmamux1::ccr::DMAREQ_ID_A::TIM2_UP)
-            });
 
-            let mut spi: hal::spi::Spi<_, _, u16> = dp.SPI2.spi(
+                Adc0Input::new(
-                (spi_sck, spi_miso, hal::spi::NoMosi),
+                    spi,
-                config,
+                    dma_streams.0,
-                50.mhz(),
+                    dma_streams.1,
-                ccdr.peripheral.SPI2,
+                    sampling_timer_channels.ch1,
-                &ccdr.clocks,
+                )
-            );
+            };
 
-            // Kick-start the SPI transaction - we will add data to the TXFIFO to read from the ADC.
+            let adc1 = {
-            let spi_regs = unsafe { &*hal::stm32::SPI2::ptr() };
+                let spi_miso = gpiob
-            spi_regs.cr1.modify(|_, w| w.cstart().started());
+                    .pb4
+                    .into_alternate_af6()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
+                let spi_sck = gpioc
+                    .pc10
+                    .into_alternate_af6()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
+                let _spi_nss = gpioa
+                    .pa15
+                    .into_alternate_af6()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
 
-            spi.listen(hal::spi::Event::Rxp);
+                let config = hal::spi::Config::new(hal::spi::Mode {
+                    polarity: hal::spi::Polarity::IdleHigh,
+                    phase: hal::spi::Phase::CaptureOnSecondTransition,
+                })
+                .manage_cs()
+                .suspend_when_inactive()
+                .cs_delay(design_parameters::ADC_SETUP_TIME);
 
-            spi
+                let spi: hal::spi::Spi<_, _, u16> = dp.SPI3.spi(
+                    (spi_sck, spi_miso, hal::spi::NoMosi),
+                    config,
+                    design_parameters::ADC_DAC_SCK_MHZ_MAX.mhz(),
+                    ccdr.peripheral.SPI3,
+                    &ccdr.clocks,
+                );
+
+                Adc1Input::new(
+                    spi,
+                    dma_streams.2,
+                    dma_streams.3,
+                    sampling_timer_channels.ch2,
+                )
+            };
+
+            AdcInputs::new(adc0, adc1)
         };
 
-        let adc1_spi = {
+        let dacs = {
-            let spi_miso = gpiob
+            let _dac_clr_n =
-                .pb4
+                gpioe.pe12.into_push_pull_output().set_high().unwrap();
-                .into_alternate_af6()
+            let _dac0_ldac_n =
-                .set_speed(hal::gpio::Speed::VeryHigh);
+                gpioe.pe11.into_push_pull_output().set_low().unwrap();
-            let spi_sck = gpioc
+            let _dac1_ldac_n =
-                .pc10
+                gpioe.pe15.into_push_pull_output().set_low().unwrap();
-                .into_alternate_af6()
-                .set_speed(hal::gpio::Speed::VeryHigh);
-            let _spi_nss = gpioa
-                .pa15
-                .into_alternate_af6()
-                .set_speed(hal::gpio::Speed::VeryHigh);
 
-            let config = hal::spi::Config::new(hal::spi::Mode {
+            let dac0_spi = {
-                polarity: hal::spi::Polarity::IdleHigh,
+                let spi_miso = gpioe
-                phase: hal::spi::Phase::CaptureOnSecondTransition,
+                    .pe5
-            })
+                    .into_alternate_af5()
-            .manage_cs()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
-            .suspend_when_inactive()
+                let spi_sck = gpioe
-            .cs_delay(220e-9);
+                    .pe2
+                    .into_alternate_af5()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
+                let _spi_nss = gpioe
+                    .pe4
+                    .into_alternate_af5()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
 
-            dma_channels.1.set_peripheral_address(
+                let config = hal::spi::Config::new(hal::spi::Mode {
-                &dp.SPI3.txdr as *const _ as u32,
+                    polarity: hal::spi::Polarity::IdleHigh,
-                false,
+                    phase: hal::spi::Phase::CaptureOnSecondTransition,
+                })
+                .manage_cs()
+                .suspend_when_inactive()
+                .communication_mode(hal::spi::CommunicationMode::Transmitter)
+                .swap_mosi_miso();
+
+                dp.SPI4.spi(
+                    (spi_sck, spi_miso, hal::spi::NoMosi),
+                    config,
+                    design_parameters::ADC_DAC_SCK_MHZ_MAX.mhz(),
+                    ccdr.peripheral.SPI4,
+                    &ccdr.clocks,
+                )
+            };
+
+            let dac1_spi = {
+                let spi_miso = gpiof
+                    .pf8
+                    .into_alternate_af5()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
+                let spi_sck = gpiof
+                    .pf7
+                    .into_alternate_af5()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
+                let _spi_nss = gpiof
+                    .pf6
+                    .into_alternate_af5()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
+
+                let config = hal::spi::Config::new(hal::spi::Mode {
+                    polarity: hal::spi::Polarity::IdleHigh,
+                    phase: hal::spi::Phase::CaptureOnSecondTransition,
+                })
+                .manage_cs()
+                .communication_mode(hal::spi::CommunicationMode::Transmitter)
+                .suspend_when_inactive()
+                .swap_mosi_miso();
+
+                dp.SPI5.spi(
+                    (spi_sck, spi_miso, hal::spi::NoMosi),
+                    config,
+                    design_parameters::ADC_DAC_SCK_MHZ_MAX.mhz(),
+                    ccdr.peripheral.SPI5,
+                    &ccdr.clocks,
+                )
+            };
+
+            let dac0 = Dac0Output::new(
+                dac0_spi,
+                dma_streams.4,
+                sampling_timer_channels.ch3,
             );
-            dma_channels
+            let dac1 = Dac1Output::new(
-                .1
+                dac1_spi,
-                .set_memory_address(&SPI_START as *const _ as u32, false);
+                dma_streams.5,
-            dma_channels
+                sampling_timer_channels.ch4,
-                .1
-                .set_direction(hal::dma::Direction::MemoryToPeripherial);
-            dma_channels.1.dmamux().modify(|_, w| {
-                w.dmareq_id()
-                    .variant(hal::stm32::dmamux1::ccr::DMAREQ_ID_A::TIM2_UP)
-            });
-            dma_channels.1.set_transfer_length(1);
-            dma_channels.1.cr().modify(|_, w| {
-                w.circ()
-                    .enabled()
-                    .psize()
-                    .bits16()
-                    .msize()
-                    .bits16()
-                    .pfctrl()
-                    .dma()
-            });
-
-            let mut spi: hal::spi::Spi<_, _, u16> = dp.SPI3.spi(
-                (spi_sck, spi_miso, hal::spi::NoMosi),
-                config,
-                50.mhz(),
-                ccdr.peripheral.SPI3,
-                &ccdr.clocks,
             );
-
+            DacOutputs::new(dac0, dac1)
-            let spi_regs = unsafe { &*hal::stm32::SPI3::ptr() };
-            spi_regs.cr1.modify(|_, w| w.cstart().started());
-
-            spi.listen(hal::spi::Event::Rxp);
-
-            spi
-        };
-
-        let _dac_clr_n = gpioe.pe12.into_push_pull_output().set_high().unwrap();
-        let _dac0_ldac_n =
-            gpioe.pe11.into_push_pull_output().set_low().unwrap();
-        let _dac1_ldac_n =
-            gpioe.pe15.into_push_pull_output().set_low().unwrap();
-
-        let dac0_spi = {
-            let spi_miso = gpioe
-                .pe5
-                .into_alternate_af5()
-                .set_speed(hal::gpio::Speed::VeryHigh);
-            let spi_sck = gpioe
-                .pe2
-                .into_alternate_af5()
-                .set_speed(hal::gpio::Speed::VeryHigh);
-            let _spi_nss = gpioe
-                .pe4
-                .into_alternate_af5()
-                .set_speed(hal::gpio::Speed::VeryHigh);
-
-            let config = hal::spi::Config::new(hal::spi::Mode {
-                polarity: hal::spi::Polarity::IdleHigh,
-                phase: hal::spi::Phase::CaptureOnSecondTransition,
-            })
-            .manage_cs()
-            .suspend_when_inactive()
-            .communication_mode(hal::spi::CommunicationMode::Transmitter)
-            .swap_mosi_miso();
-
-            dp.SPI4.spi(
-                (spi_sck, spi_miso, hal::spi::NoMosi),
-                config,
-                50.mhz(),
-                ccdr.peripheral.SPI4,
-                &ccdr.clocks,
-            )
-        };
-
-        let dac1_spi = {
-            let spi_miso = gpiof
-                .pf8
-                .into_alternate_af5()
-                .set_speed(hal::gpio::Speed::VeryHigh);
-            let spi_sck = gpiof
-                .pf7
-                .into_alternate_af5()
-                .set_speed(hal::gpio::Speed::VeryHigh);
-            let _spi_nss = gpiof
-                .pf6
-                .into_alternate_af5()
-                .set_speed(hal::gpio::Speed::VeryHigh);
-
-            let config = hal::spi::Config::new(hal::spi::Mode {
-                polarity: hal::spi::Polarity::IdleHigh,
-                phase: hal::spi::Phase::CaptureOnSecondTransition,
-            })
-            .manage_cs()
-            .suspend_when_inactive()
-            .communication_mode(hal::spi::CommunicationMode::Transmitter)
-            .swap_mosi_miso();
-
-            dp.SPI5.spi(
-                (spi_sck, spi_miso, hal::spi::NoMosi),
-                config,
-                50.mhz(),
-                ccdr.peripheral.SPI5,
-                &ccdr.clocks,
-            )
         };
 
         let mut fp_led_0 = gpiod.pd5.into_push_pull_output();
@@ -741,28 +725,16 @@ const APP: () = {
         // Utilize the cycle counter for RTIC scheduling.
         cp.DWT.enable_cycle_counter();
 
-        // Configure timer 2 to trigger conversions for the ADC
+        // Start sampling ADCs.
-        let timer2 =
+        sampling_timer.start();
-            dp.TIM2.timer(500.khz(), ccdr.peripheral.TIM2, &ccdr.clocks);
-        {
-            let t2_regs = unsafe { &*hal::stm32::TIM2::ptr() };
-            t2_regs.dier.modify(|_, w| w.ude().set_bit());
-        }
-
-        // Start the SPI transfers.
-        dma_channels.0.start();
-        dma_channels.1.start();
 
         init::LateResources {
             afe0: afe0,
-            adc0: adc0_spi,
-            dac0: dac0_spi,
-
             afe1: afe1,
-            adc1: adc1_spi,
-            dac1: dac1_spi,
 
-            timer: timer2,
+            adcs,
+            dacs,
+
             pounder: pounder_devices,
 
             eeprom_i2c,
@@ -772,30 +744,32 @@ const APP: () = {
         }
     }
 
-    #[task(binds = SPI3, resources = [adc1, dac1, iir_state, iir_ch], priority = 2)]
+    #[task(binds=DMA1_STR3, resources=[adcs, dacs, iir_state, iir_ch], priority=2)]
-    fn spi3(c: spi3::Context) {
+    fn adc_update(c: adc_update::Context) {
-        let output: u16 = {
+        let (adc0_samples, adc1_samples) =
-            let a: u16 = c.resources.adc1.read().unwrap();
+            c.resources.adcs.transfer_complete_handler();
-            let x0 = f32::from(a as i16);
-            let y0 =
-                c.resources.iir_ch[1].update(&mut c.resources.iir_state[1], x0);
-            y0 as i16 as u16 ^ 0x8000
-        };
 
-        c.resources.dac1.send(output).unwrap();
+        let (dac0, dac1) = c.resources.dacs.prepare_data();
-    }
 
-    #[task(binds = SPI2, resources = [adc0, dac0, iir_state, iir_ch], priority = 2)]
+        for (i, (adc0, adc1)) in
-    fn spi2(c: spi2::Context) {
+            adc0_samples.iter().zip(adc1_samples.iter()).enumerate()
-        let output: u16 = {
+        {
-            let a: u16 = c.resources.adc0.read().unwrap();
+            dac0[i] = {
-            let x0 = f32::from(a as i16);
+                let x0 = f32::from(*adc0 as i16);
-            let y0 =
+                let y0 = c.resources.iir_ch[0]
-                c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0);
+                    .update(&mut c.resources.iir_state[0], x0);
-            y0 as i16 as u16 ^ 0x8000
+                y0 as i16 as u16 ^ 0x8000
-        };
+            };
 
-        c.resources.dac0.send(output).unwrap();
+            dac1[i] = {
+                let x1 = f32::from(*adc1 as i16);
+                let y1 = c.resources.iir_ch[1]
+                    .update(&mut c.resources.iir_state[1], x1);
+                y1 as i16 as u16 ^ 0x8000
+            };
+        }
+
+        c.resources.dacs.commit_data();
     }
 
     #[idle(resources=[net_interface, pounder, mac_addr, eth_mac, iir_state, iir_ch, afe0, afe1])]
@@ -988,6 +962,26 @@ const APP: () = {
         unsafe { 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!("ADC0 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

src/sampling_timer.rs

@@ -0,0 +1,119 @@
+///! The sampling timer is used for managing ADC sampling and external reference timestamping.
+use super::hal;
+
+/// The timer used for managing ADC sampling.
+pub struct SamplingTimer {
+    timer: hal::timer::Timer<hal::stm32::TIM2>,
+    channels: Option<tim2::Channels>,
+}
+
+impl SamplingTimer {
+    /// Construct the sampling timer.
+    pub fn new(mut timer: hal::timer::Timer<hal::stm32::TIM2>) -> Self {
+        timer.pause();
+
+        Self {
+            timer,
+            // Note(unsafe): Once these channels are taken, we guarantee that we do not modify any
+            // of the underlying timer channel registers, as ownership of the channels is now
+            // provided through the associated channel structures. We additionally guarantee this
+            // can only be called once because there is only one Timer2 and this resource takes
+            // ownership of it once instantiated.
+            channels: unsafe { Some(tim2::Channels::new()) },
+        }
+    }
+
+    /// Get the timer capture/compare channels.
+    pub fn channels(&mut self) -> tim2::Channels {
+        self.channels.take().unwrap()
+    }
+
+    /// Start the sampling timer.
+    pub fn start(&mut self) {
+        self.timer.reset_counter();
+        self.timer.resume();
+    }
+}
+
+macro_rules! timer_channel {
+    ($name:ident, $TY:ty, ($ccxde:expr, $ccrx:expr, $ccmrx_output:expr, $ccxs:expr)) => {
+        pub struct $name {}
+
+        paste::paste! {
+            impl $name {
+                /// Construct a new timer channel.
+                ///
+                /// Note(unsafe): This function must only be called once. Once constructed, the
+                /// constructee guarantees to never modify the timer channel.
+                unsafe fn new() -> Self {
+                    Self {}
+                }
+
+                /// Allow CH4 to generate DMA requests.
+                pub fn listen_dma(&self) {
+                    let regs = unsafe { &*<$TY>::ptr() };
+                    regs.dier.modify(|_, w| w.[< $ccxde >]().set_bit());
+                }
+
+                /// Operate CH2 as an output-compare.
+                ///
+                /// # Args
+                /// * `value` - The value to compare the sampling timer's counter against.
+                pub fn to_output_compare(&self, value: u32) {
+                    let regs = unsafe { &*<$TY>::ptr() };
+                    assert!(value <= regs.arr.read().bits());
+                    regs.[< $ccrx >].write(|w| w.ccr().bits(value));
+                    regs.[< $ccmrx_output >]()
+                        .modify(|_, w| unsafe { w.[< $ccxs >]().bits(0) });
+                }
+            }
+        }
+    };
+}
+
+pub mod tim2 {
+    use stm32h7xx_hal as hal;
+
+    /// The channels representing the timer.
+    pub struct Channels {
+        pub ch1: Channel1,
+        pub ch2: Channel2,
+        pub ch3: Channel3,
+        pub ch4: Channel4,
+    }
+
+    impl Channels {
+        /// Construct a new set of channels.
+        ///
+        /// Note(unsafe): This is only safe to call once.
+        pub unsafe fn new() -> Self {
+            Self {
+                ch1: Channel1::new(),
+                ch2: Channel2::new(),
+                ch3: Channel3::new(),
+                ch4: Channel4::new(),
+            }
+        }
+    }
+
+    timer_channel!(
+        Channel1,
+        hal::stm32::TIM2,
+        (cc1de, ccr1, ccmr1_output, cc1s)
+    );
+    timer_channel!(
+        Channel2,
+        hal::stm32::TIM2,
+        (cc2de, ccr2, ccmr1_output, cc1s)
+    );
+    timer_channel!(
+        Channel3,
+        hal::stm32::TIM2,
+        (cc3de, ccr3, ccmr2_output, cc3s)
+    );
+    timer_channel!(
+        Channel4,
+        hal::stm32::TIM2,
+        (cc4de, ccr4, ccmr2_output, cc4s)
+    );
+}