Merge branch 'master' into rj/itcm
This commit is contained in:
GitHub
commit
bd491cf584
|
|
@ -25,8 +25,7 @@ jobs:
|
|||
- run: >
|
||||
zip bin.zip
|
||||
target/*/release/dual-iir
|
||||
target/*/release/lockin-external
|
||||
target/*/release/lockin-internal
|
||||
target/*/release/lockin
|
||||
- id: create_release
|
||||
uses: actions/create-release@v1
|
||||
env:
|
||||
|
|
|
|||
|
|
@ -206,7 +206,7 @@ dependencies = [
|
|||
[[package]]
|
||||
name = "derive_miniconf"
|
||||
version = "0.1.0"
|
||||
source = "git+https://github.com/quartiq/miniconf.git?rev=314fa5587d#314fa5587d1aa28e1ad70106f19e30db646e9f28"
|
||||
source = "git+https://github.com/quartiq/miniconf.git?rev=c6f2b28#c6f2b28f735e27b337eaa986846536e904c6f2bd"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
|
|
@ -419,11 +419,9 @@ dependencies = [
|
|||
[[package]]
|
||||
name = "miniconf"
|
||||
version = "0.1.0"
|
||||
source = "git+https://github.com/quartiq/miniconf.git?rev=314fa5587d#314fa5587d1aa28e1ad70106f19e30db646e9f28"
|
||||
source = "git+https://github.com/quartiq/miniconf.git?rev=c6f2b28#c6f2b28f735e27b337eaa986846536e904c6f2bd"
|
||||
dependencies = [
|
||||
"derive_miniconf",
|
||||
"heapless 0.6.1",
|
||||
"minimq",
|
||||
"serde",
|
||||
"serde-json-core",
|
||||
]
|
||||
|
|
@ -431,7 +429,7 @@ dependencies = [
|
|||
[[package]]
|
||||
name = "minimq"
|
||||
version = "0.2.0"
|
||||
source = "git+https://github.com/quartiq/minimq.git?rev=933687c2e4b#933687c2e4bc8a4d972de9a4d1508b0b554a8b38"
|
||||
source = "git+https://github.com/quartiq/minimq.git?rev=b3f364d#b3f364d55dea35da6572f78ddb91c87bfbb453bf"
|
||||
dependencies = [
|
||||
"bit_field",
|
||||
"embedded-nal",
|
||||
|
|
@ -655,6 +653,12 @@ dependencies = [
|
|||
"semver",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "ryu"
|
||||
version = "1.0.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "71d301d4193d031abdd79ff7e3dd721168a9572ef3fe51a1517aba235bd8f86e"
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "0.9.0"
|
||||
|
|
@ -681,10 +685,12 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "serde-json-core"
|
||||
version = "0.2.0"
|
||||
source = "git+https://github.com/rust-embedded-community/serde-json-core.git?rev=ee06ac91bc#ee06ac91bc43b72450a92198a00d9e5c5b9946d2"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "39af17f40c2a28d2c9a7918663ddc8a10f54cc6f109ead5c3f010869761df186"
|
||||
dependencies = [
|
||||
"heapless 0.5.6",
|
||||
"heapless 0.6.1",
|
||||
"ryu",
|
||||
"serde",
|
||||
]
|
||||
|
||||
|
|
@ -740,6 +746,7 @@ dependencies = [
|
|||
"log",
|
||||
"mcp23017",
|
||||
"miniconf",
|
||||
"minimq",
|
||||
"nb 1.0.0",
|
||||
"panic-semihosting",
|
||||
"paste",
|
||||
|
|
|
|||
10
Cargo.toml
10
Cargo.toml
|
|
@ -63,19 +63,15 @@ rev = "a2e3ad5"
|
|||
|
||||
[patch.crates-io.miniconf]
|
||||
git = "https://github.com/quartiq/miniconf.git"
|
||||
rev = "314fa5587d"
|
||||
rev = "c6f2b28"
|
||||
|
||||
[dependencies.smoltcp-nal]
|
||||
git = "https://github.com/quartiq/smoltcp-nal.git"
|
||||
rev = "8468f11"
|
||||
|
||||
[patch.crates-io.minimq]
|
||||
[dependencies.minimq]
|
||||
git = "https://github.com/quartiq/minimq.git"
|
||||
rev = "933687c2e4b"
|
||||
|
||||
[patch.crates-io.serde-json-core]
|
||||
git = "https://github.com/rust-embedded-community/serde-json-core.git"
|
||||
rev = "ee06ac91bc"
|
||||
rev = "b3f364d"
|
||||
|
||||
[features]
|
||||
semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
|
||||
|
|
|
|||
|
|
@ -29,9 +29,7 @@ to implement different use cases. Several applications are provides by default
|
|||
* anti-windup
|
||||
* derivative kick avoidance
|
||||
|
||||
### Lockin external
|
||||
|
||||
### Lockin internal
|
||||
### Lockin
|
||||
|
||||
## Minimal bootstrapping documentation
|
||||
|
||||
|
|
|
|||
76
miniconf.py
76
miniconf.py
|
|
@ -9,11 +9,12 @@ import argparse
|
|||
import asyncio
|
||||
import json
|
||||
import logging
|
||||
import sys
|
||||
import uuid
|
||||
|
||||
from gmqtt import Client as MqttClient
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
LOGGER = logging.getLogger(__name__)
|
||||
|
||||
class Miniconf:
|
||||
"""An asynchronous API for controlling Miniconf devices using MQTT."""
|
||||
|
|
@ -32,27 +33,33 @@ class Miniconf:
|
|||
client: A connected MQTT5 client.
|
||||
prefix: The MQTT toptic prefix of the device to control.
|
||||
"""
|
||||
self.uuid = uuid.uuid1()
|
||||
self.request_id = 0
|
||||
self.client = client
|
||||
self.prefix = prefix
|
||||
self.inflight = {}
|
||||
self.client.on_message = self._handle_response
|
||||
self.client.subscribe(f'{prefix}/response/#')
|
||||
self.client.subscribe(f'{prefix}/response/{self.uuid.hex}')
|
||||
|
||||
def _handle_response(self, _client, topic, payload, *_args, **_kwargs):
|
||||
def _handle_response(self, _client, _topic, payload, _qos, properties):
|
||||
"""Callback function for when messages are received over MQTT.
|
||||
|
||||
Args:
|
||||
_client: The MQTT client.
|
||||
topic: The topic that the message was received on.
|
||||
_topic: The topic that the message was received on.
|
||||
payload: The payload of the message.
|
||||
_qos: The quality-of-service level of the received packet
|
||||
properties: A dictionary of properties associated with the message.
|
||||
"""
|
||||
if topic not in self.inflight:
|
||||
# TODO use correlation_data to distinguish clients and requests
|
||||
logger.warning('Unexpected response on topic: %s', topic)
|
||||
return
|
||||
# Extract corrleation data from the properties
|
||||
correlation_data = json.loads(properties['correlation_data'][0].decode('ascii'))
|
||||
|
||||
# Get the request ID from the correlation data
|
||||
request_id = correlation_data['request_id']
|
||||
|
||||
self.inflight[request_id].set_result(json.loads(payload))
|
||||
del self.inflight[request_id]
|
||||
|
||||
self.inflight[topic].set_result(payload.decode('ascii'))
|
||||
del self.inflight[topic]
|
||||
|
||||
async def command(self, path, value):
|
||||
"""Write the provided data to the specified path.
|
||||
|
|
@ -62,29 +69,37 @@ class Miniconf:
|
|||
value: The value to write to the path.
|
||||
|
||||
Returns:
|
||||
The received response to the command.
|
||||
The response to the command as a dictionary.
|
||||
"""
|
||||
setting_topic = f'{self.prefix}/settings/{path}'
|
||||
response_topic = f'{self.prefix}/response/{path}'
|
||||
if response_topic in self.inflight:
|
||||
# TODO use correlation_data to distinguish clients and requests
|
||||
raise NotImplementedError(
|
||||
'Only one in-flight message per topic is supported')
|
||||
response_topic = f'{self.prefix}/response/{self.uuid.hex}'
|
||||
|
||||
# Assign a unique identifier to this update request.
|
||||
request_id = self.request_id
|
||||
self.request_id += 1
|
||||
assert request_id not in self.inflight, 'Invalid ID encountered'
|
||||
|
||||
correlation_data = json.dumps({
|
||||
'request_id': request_id,
|
||||
}).encode('ascii')
|
||||
|
||||
value = json.dumps(value)
|
||||
logger.info('Sending %s to "%s"', value, setting_topic)
|
||||
LOGGER.info('Sending %s to "%s"', value, setting_topic)
|
||||
fut = asyncio.get_running_loop().create_future()
|
||||
self.inflight[response_topic] = fut
|
||||
|
||||
self.inflight[request_id] = fut
|
||||
self.client.publish(setting_topic, payload=value, qos=0, retain=True,
|
||||
response_topic=response_topic)
|
||||
response_topic=response_topic,
|
||||
correlation_data=correlation_data)
|
||||
return await fut
|
||||
|
||||
|
||||
def main():
|
||||
""" Main program entry point. """
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Miniconf command line interface.',
|
||||
formatter_class=argparse.RawDescriptionHelpFormatter,
|
||||
epilog='''Examples:
|
||||
description='Miniconf command line interface.',
|
||||
formatter_class=argparse.RawDescriptionHelpFormatter,
|
||||
epilog='''Examples:
|
||||
%(prog)s dt/sinara/stabilizer afe/0='"G2"' iir_ch/0/0=\
|
||||
'{"y_min": -32767, "y_max": 32767, "y_offset": 0, "ba": [1.0, 0, 0, 0, 0]}'
|
||||
''')
|
||||
|
|
@ -100,19 +115,22 @@ def main():
|
|||
args = parser.parse_args()
|
||||
|
||||
logging.basicConfig(
|
||||
format='%(asctime)s [%(levelname)s] %(name)s: %(message)s',
|
||||
level=logging.WARN - 10*args.verbose)
|
||||
format='%(asctime)s [%(levelname)s] %(name)s: %(message)s',
|
||||
level=logging.WARN - 10*args.verbose)
|
||||
|
||||
loop = asyncio.get_event_loop()
|
||||
|
||||
async def configure_settings():
|
||||
interface = await Miniconf.create(args.prefix, args.broker)
|
||||
for kv in args.settings:
|
||||
path, value = kv.split("=", 1)
|
||||
for key_value in args.settings:
|
||||
path, value = key_value.split("=", 1)
|
||||
response = await interface.command(path, json.loads(value))
|
||||
print(response)
|
||||
print(f'{path}: {response}')
|
||||
if response['code'] != 0:
|
||||
return response['code']
|
||||
return 0
|
||||
|
||||
loop.run_until_complete(configure_settings())
|
||||
sys.exit(loop.run_until_complete(configure_settings()))
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
|
|
|
|||
|
|
@ -13,7 +13,7 @@ use hardware::{
|
|||
InputPin, AFE0, AFE1,
|
||||
};
|
||||
|
||||
use net::{Action, MiniconfInterface};
|
||||
use net::{Action, MqttInterface};
|
||||
|
||||
const SCALE: f32 = i16::MAX as _;
|
||||
|
||||
|
|
@ -54,7 +54,7 @@ const APP: () = {
|
|||
digital_input1: DigitalInput1,
|
||||
adcs: (Adc0Input, Adc1Input),
|
||||
dacs: (Dac0Output, Dac1Output),
|
||||
mqtt_config: MiniconfInterface<Settings>,
|
||||
mqtt: MqttInterface<Settings>,
|
||||
|
||||
#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
|
||||
iir_state: [[iir::Vec5; IIR_CASCADE_LENGTH]; 2],
|
||||
|
|
@ -66,7 +66,7 @@ const APP: () = {
|
|||
// Configure the microcontroller
|
||||
let (mut stabilizer, _pounder) = hardware::setup(c.core, c.device);
|
||||
|
||||
let mqtt_config = MiniconfInterface::new(
|
||||
let mqtt = MqttInterface::new(
|
||||
stabilizer.net.stack,
|
||||
"",
|
||||
&net::get_device_prefix(
|
||||
|
|
@ -93,7 +93,7 @@ const APP: () = {
|
|||
afes: stabilizer.afes,
|
||||
adcs: stabilizer.adcs,
|
||||
dacs: stabilizer.dacs,
|
||||
mqtt_config,
|
||||
mqtt,
|
||||
digital_input1: stabilizer.digital_inputs.1,
|
||||
settings: Settings::default(),
|
||||
}
|
||||
|
|
@ -152,14 +152,10 @@ const APP: () = {
|
|||
}
|
||||
}
|
||||
|
||||
#[idle(resources=[mqtt_config], spawn=[settings_update])]
|
||||
#[idle(resources=[mqtt], spawn=[settings_update])]
|
||||
fn idle(mut c: idle::Context) -> ! {
|
||||
loop {
|
||||
match c
|
||||
.resources
|
||||
.mqtt_config
|
||||
.lock(|config_interface| config_interface.update())
|
||||
{
|
||||
match c.resources.mqtt.lock(|mqtt| mqtt.update()) {
|
||||
Some(Action::Sleep) => cortex_m::asm::wfi(),
|
||||
Some(Action::UpdateSettings) => {
|
||||
c.spawn.settings_update().unwrap()
|
||||
|
|
@ -169,9 +165,9 @@ const APP: () = {
|
|||
}
|
||||
}
|
||||
|
||||
#[task(priority = 1, resources=[mqtt_config, afes, settings])]
|
||||
#[task(priority = 1, resources=[mqtt, afes, settings])]
|
||||
fn settings_update(mut c: settings_update::Context) {
|
||||
let settings = &c.resources.mqtt_config.mqtt.settings;
|
||||
let settings = c.resources.mqtt.settings();
|
||||
|
||||
// Update the IIR channels.
|
||||
c.resources.settings.lock(|current| *current = *settings);
|
||||
|
|
|
|||
|
|
@ -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();
|
||||
}
|
||||
};
|
||||
|
|
@ -16,18 +16,36 @@ use stabilizer::hardware::{
|
|||
};
|
||||
|
||||
use miniconf::Miniconf;
|
||||
use stabilizer::net::{Action, MiniconfInterface};
|
||||
use stabilizer::net::{Action, MqttInterface};
|
||||
|
||||
// A constant sinusoid to send on the DAC output.
|
||||
// Full-scale gives a +/- 10.24V amplitude waveform. Scale it down to give +/- 1V.
|
||||
const ONE: i16 = ((1.0 / 10.24) * i16::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];
|
||||
|
||||
#[derive(Copy, Clone, Debug, Deserialize, Miniconf)]
|
||||
enum Conf {
|
||||
PowerPhase,
|
||||
FrequencyDiscriminator,
|
||||
Magnitude,
|
||||
Phase,
|
||||
ReferenceFrequency,
|
||||
LogPower,
|
||||
InPhase,
|
||||
Quadrature,
|
||||
Modulation,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, Debug, Miniconf, Deserialize, PartialEq)]
|
||||
enum LockinMode {
|
||||
Internal,
|
||||
External,
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, Debug, Deserialize, Miniconf)]
|
||||
pub struct Settings {
|
||||
afe: [AfeGain; 2],
|
||||
lockin_mode: LockinMode,
|
||||
|
||||
pll_tc: [u8; 2],
|
||||
|
||||
|
|
@ -43,13 +61,15 @@ impl Default for Settings {
|
|||
Self {
|
||||
afe: [AfeGain::G1; 2],
|
||||
|
||||
lockin_mode: LockinMode::External,
|
||||
|
||||
pll_tc: [21, 21], // frequency and phase settling time (log2 counter cycles)
|
||||
|
||||
lockin_tc: 6, // lockin lowpass time constant
|
||||
lockin_harmonic: -1, // Harmonic index of the LO: -1 to _de_modulate the fundamental (complex conjugate)
|
||||
lockin_phase: 0, // Demodulation LO phase offset
|
||||
|
||||
output_conf: [Conf::Quadrature; 2],
|
||||
output_conf: [Conf::InPhase, Conf::Quadrature],
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -60,7 +80,7 @@ const APP: () = {
|
|||
afes: (AFE0, AFE1),
|
||||
adcs: (Adc0Input, Adc1Input),
|
||||
dacs: (Dac0Output, Dac1Output),
|
||||
mqtt_config: MiniconfInterface<Settings>,
|
||||
mqtt: MqttInterface<Settings>,
|
||||
settings: Settings,
|
||||
|
||||
timestamper: InputStamper,
|
||||
|
|
@ -73,7 +93,7 @@ const APP: () = {
|
|||
// Configure the microcontroller
|
||||
let (mut stabilizer, _pounder) = setup(c.core, c.device);
|
||||
|
||||
let mqtt_config = MiniconfInterface::new(
|
||||
let mqtt = MqttInterface::new(
|
||||
stabilizer.net.stack,
|
||||
"",
|
||||
&net::get_device_prefix(
|
||||
|
|
@ -113,7 +133,7 @@ const APP: () = {
|
|||
afes: stabilizer.afes,
|
||||
adcs: stabilizer.adcs,
|
||||
dacs: stabilizer.dacs,
|
||||
mqtt_config,
|
||||
mqtt,
|
||||
timestamper: stabilizer.timestamper,
|
||||
|
||||
settings,
|
||||
|
|
@ -137,7 +157,7 @@ const APP: () = {
|
|||
c.resources.adcs.1.acquire_buffer(),
|
||||
];
|
||||
|
||||
let dac_samples = [
|
||||
let mut dac_samples = [
|
||||
c.resources.dacs.0.acquire_buffer(),
|
||||
c.resources.dacs.1.acquire_buffer(),
|
||||
];
|
||||
|
|
@ -145,21 +165,37 @@ const APP: () = {
|
|||
let lockin = c.resources.lockin;
|
||||
let settings = c.resources.settings;
|
||||
|
||||
let timestamp =
|
||||
c.resources.timestamper.latest_timestamp().unwrap_or(None); // Ignore data from timer capture overflows.
|
||||
let (pll_phase, pll_frequency) = c.resources.pll.update(
|
||||
timestamp.map(|t| t as i32),
|
||||
settings.pll_tc[0],
|
||||
settings.pll_tc[1],
|
||||
);
|
||||
let (reference_phase, reference_frequency) = match settings.lockin_mode
|
||||
{
|
||||
LockinMode::External => {
|
||||
let timestamp =
|
||||
c.resources.timestamper.latest_timestamp().unwrap_or(None); // Ignore data from timer capture overflows.
|
||||
let (pll_phase, pll_frequency) = c.resources.pll.update(
|
||||
timestamp.map(|t| t as i32),
|
||||
settings.pll_tc[0],
|
||||
settings.pll_tc[1],
|
||||
);
|
||||
(
|
||||
pll_phase,
|
||||
(pll_frequency
|
||||
>> design_parameters::SAMPLE_BUFFER_SIZE_LOG2)
|
||||
as i32,
|
||||
)
|
||||
}
|
||||
LockinMode::Internal => {
|
||||
// Reference phase and frequency are known.
|
||||
(
|
||||
1i32 << 30,
|
||||
1i32 << (32 - design_parameters::SAMPLE_BUFFER_SIZE_LOG2),
|
||||
)
|
||||
}
|
||||
};
|
||||
|
||||
let sample_frequency = ((pll_frequency
|
||||
>> design_parameters::SAMPLE_BUFFER_SIZE_LOG2)
|
||||
as i32)
|
||||
.wrapping_mul(settings.lockin_harmonic);
|
||||
let sample_phase = settings
|
||||
.lockin_phase
|
||||
.wrapping_add(pll_phase.wrapping_mul(settings.lockin_harmonic));
|
||||
let sample_frequency =
|
||||
reference_frequency.wrapping_mul(settings.lockin_harmonic);
|
||||
let sample_phase = settings.lockin_phase.wrapping_add(
|
||||
reference_phase.wrapping_mul(settings.lockin_harmonic),
|
||||
);
|
||||
|
||||
let output: Complex<i32> = adc_samples[0]
|
||||
.iter()
|
||||
|
|
@ -175,34 +211,30 @@ const APP: () = {
|
|||
.unwrap()
|
||||
* 2; // Full scale assuming the 2f component is gone.
|
||||
|
||||
let output = [
|
||||
match settings.output_conf[0] {
|
||||
Conf::PowerPhase => output.abs_sqr() as _,
|
||||
Conf::FrequencyDiscriminator => (output.log2() << 24) as _,
|
||||
Conf::Quadrature => output.re,
|
||||
},
|
||||
match settings.output_conf[1] {
|
||||
Conf::PowerPhase => output.arg(),
|
||||
Conf::FrequencyDiscriminator => pll_frequency as _,
|
||||
Conf::Quadrature => output.im,
|
||||
},
|
||||
];
|
||||
|
||||
// Convert to DAC data.
|
||||
for i in 0..dac_samples[0].len() {
|
||||
dac_samples[0][i] = (output[0] >> 16) as u16 ^ 0x8000;
|
||||
dac_samples[1][i] = (output[1] >> 16) as u16 ^ 0x8000;
|
||||
for (channel, samples) in dac_samples.iter_mut().enumerate() {
|
||||
for (i, sample) in samples.iter_mut().enumerate() {
|
||||
let value = match settings.output_conf[channel] {
|
||||
Conf::Magnitude => output.abs_sqr() as i32 >> 16,
|
||||
Conf::Phase => output.arg() >> 16,
|
||||
Conf::LogPower => (output.log2() << 24) as i32 >> 16,
|
||||
Conf::ReferenceFrequency => {
|
||||
reference_frequency as i32 >> 16
|
||||
}
|
||||
Conf::InPhase => output.re >> 16,
|
||||
Conf::Quadrature => output.im >> 16,
|
||||
Conf::Modulation => DAC_SEQUENCE[i] as i32,
|
||||
};
|
||||
|
||||
*sample = value as u16 ^ 0x8000;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[idle(resources=[mqtt_config], spawn=[settings_update])]
|
||||
#[idle(resources=[mqtt], spawn=[settings_update])]
|
||||
fn idle(mut c: idle::Context) -> ! {
|
||||
loop {
|
||||
match c
|
||||
.resources
|
||||
.mqtt_config
|
||||
.lock(|config_interface| config_interface.update())
|
||||
{
|
||||
match c.resources.mqtt.lock(|mqtt| mqtt.update()) {
|
||||
Some(Action::Sleep) => cortex_m::asm::wfi(),
|
||||
Some(Action::UpdateSettings) => {
|
||||
c.spawn.settings_update().unwrap()
|
||||
|
|
@ -212,9 +244,9 @@ const APP: () = {
|
|||
}
|
||||
}
|
||||
|
||||
#[task(priority = 1, resources=[mqtt_config, settings, afes])]
|
||||
#[task(priority = 1, resources=[mqtt, settings, afes])]
|
||||
fn settings_update(mut c: settings_update::Context) {
|
||||
let settings = &c.resources.mqtt_config.mqtt.settings;
|
||||
let settings = c.resources.mqtt.settings();
|
||||
|
||||
c.resources.afes.0.set_gain(settings.afe[0]);
|
||||
c.resources.afes.1.set_gain(settings.afe[1]);
|
||||
|
|
@ -0,0 +1,91 @@
|
|||
use heapless::{consts, String, Vec};
|
||||
use serde::Serialize;
|
||||
|
||||
use core::fmt::Write;
|
||||
|
||||
#[derive(Debug, Copy, Clone)]
|
||||
pub enum SettingsResponseCode {
|
||||
NoError = 0,
|
||||
MiniconfError = 1,
|
||||
}
|
||||
|
||||
/// Represents a generic MQTT message.
|
||||
pub struct MqttMessage<'a> {
|
||||
pub topic: &'a str,
|
||||
pub message: Vec<u8, consts::U128>,
|
||||
pub properties: Vec<minimq::Property<'a>, consts::U1>,
|
||||
}
|
||||
|
||||
/// The payload of the MQTT response message to a settings update request.
|
||||
#[derive(Serialize)]
|
||||
pub struct SettingsResponse {
|
||||
code: u8,
|
||||
msg: String<heapless::consts::U64>,
|
||||
}
|
||||
|
||||
impl<'a> MqttMessage<'a> {
|
||||
/// Construct a new MQTT message from an incoming message.
|
||||
///
|
||||
/// # Args
|
||||
/// * `properties` - A list of properties associated with the inbound message.
|
||||
/// * `default_response` - The default response topic for the message
|
||||
/// * `msg` - The response associated with the message. Must fit within 128 bytes.
|
||||
pub fn new<'b: 'a>(
|
||||
properties: &[minimq::Property<'a>],
|
||||
default_response: &'b str,
|
||||
msg: &impl Serialize,
|
||||
) -> Self {
|
||||
// Extract the MQTT response topic.
|
||||
let topic = properties
|
||||
.iter()
|
||||
.find_map(|prop| {
|
||||
if let minimq::Property::ResponseTopic(topic) = prop {
|
||||
Some(topic)
|
||||
} else {
|
||||
None
|
||||
}
|
||||
})
|
||||
.unwrap_or(&default_response);
|
||||
|
||||
// Associate any provided correlation data with the response.
|
||||
let mut correlation_data: Vec<minimq::Property<'a>, consts::U1> =
|
||||
Vec::new();
|
||||
if let Some(data) = properties
|
||||
.iter()
|
||||
.find(|prop| matches!(prop, minimq::Property::CorrelationData(_)))
|
||||
{
|
||||
// Note(unwrap): Unwrap can not fail, as we only ever push one value.
|
||||
correlation_data.push(*data).unwrap();
|
||||
}
|
||||
|
||||
Self {
|
||||
topic,
|
||||
// Note(unwrap): All SettingsResponse objects are guaranteed to fit in the vector.
|
||||
message: miniconf::serde_json_core::to_vec(msg).unwrap(),
|
||||
properties: correlation_data,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl From<Result<(), miniconf::Error>> for SettingsResponse {
|
||||
fn from(result: Result<(), miniconf::Error>) -> Self {
|
||||
match result {
|
||||
Ok(_) => Self {
|
||||
msg: String::from("OK"),
|
||||
code: SettingsResponseCode::NoError as u8,
|
||||
},
|
||||
|
||||
Err(error) => {
|
||||
let mut msg = String::new();
|
||||
if write!(&mut msg, "{:?}", error).is_err() {
|
||||
msg = String::from("Miniconf Error");
|
||||
}
|
||||
|
||||
Self {
|
||||
code: SettingsResponseCode::MiniconfError as u8,
|
||||
msg,
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
112
src/net/mod.rs
112
src/net/mod.rs
|
|
@ -1,11 +1,18 @@
|
|||
use crate::hardware::{
|
||||
design_parameters::MQTT_BROKER, CycleCounter, EthernetPhy, NetworkStack,
|
||||
};
|
||||
///! Stabilizer network management module
|
||||
///!
|
||||
///! # Design
|
||||
///! The stabilizer network architecture supports numerous layers to permit transmission of
|
||||
///! telemetry (via MQTT), configuration of run-time settings (via MQTT + Miniconf), and live data
|
||||
///! streaming over raw UDP/TCP sockets. This module encompasses the main processing routines
|
||||
///! related to Stabilizer networking operations.
|
||||
use heapless::{consts, String};
|
||||
|
||||
use core::fmt::Write;
|
||||
|
||||
use heapless::{consts, String};
|
||||
use miniconf::minimq;
|
||||
mod messages;
|
||||
mod mqtt_interface;
|
||||
use messages::{MqttMessage, SettingsResponse};
|
||||
pub use mqtt_interface::MqttInterface;
|
||||
|
||||
/// Potential actions for firmware to take.
|
||||
pub enum Action {
|
||||
|
|
@ -16,101 +23,6 @@ pub enum Action {
|
|||
UpdateSettings,
|
||||
}
|
||||
|
||||
/// MQTT settings interface.
|
||||
pub struct MiniconfInterface<S>
|
||||
where
|
||||
S: miniconf::Miniconf + Default,
|
||||
{
|
||||
pub mqtt: miniconf::MqttInterface<S, NetworkStack, minimq::consts::U256>,
|
||||
clock: CycleCounter,
|
||||
phy: EthernetPhy,
|
||||
network_was_reset: bool,
|
||||
}
|
||||
|
||||
impl<S> MiniconfInterface<S>
|
||||
where
|
||||
S: miniconf::Miniconf + Default,
|
||||
{
|
||||
/// Construct a new MQTT settings interface.
|
||||
///
|
||||
/// # Args
|
||||
/// * `stack` - The network stack to use for communication.
|
||||
/// * `client_id` - The ID of the MQTT client. May be an empty string for auto-assigning.
|
||||
/// * `prefix` - The MQTT device prefix to use for this device.
|
||||
/// * `phy` - The PHY driver for querying the link state.
|
||||
/// * `clock` - The clock to utilize for querying the current system time.
|
||||
pub fn new(
|
||||
stack: NetworkStack,
|
||||
client_id: &str,
|
||||
prefix: &str,
|
||||
phy: EthernetPhy,
|
||||
clock: CycleCounter,
|
||||
) -> Self {
|
||||
let mqtt = {
|
||||
let mqtt_client = {
|
||||
minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
|
||||
.unwrap()
|
||||
};
|
||||
|
||||
miniconf::MqttInterface::new(mqtt_client, prefix, S::default())
|
||||
.unwrap()
|
||||
};
|
||||
|
||||
Self {
|
||||
mqtt,
|
||||
clock,
|
||||
phy,
|
||||
network_was_reset: false,
|
||||
}
|
||||
}
|
||||
|
||||
/// Update the MQTT interface and service the network
|
||||
///
|
||||
/// # Returns
|
||||
/// An option containing an action that should be completed as a result of network servicing.
|
||||
pub fn update(&mut self) -> Option<Action> {
|
||||
let now = self.clock.current_ms();
|
||||
|
||||
// First, service the network stack to process and inbound and outbound traffic.
|
||||
let sleep = match self.mqtt.network_stack().poll(now) {
|
||||
Ok(updated) => !updated,
|
||||
Err(err) => {
|
||||
log::info!("Network error: {:?}", err);
|
||||
false
|
||||
}
|
||||
};
|
||||
|
||||
// If the PHY indicates there's no more ethernet link, reset the DHCP server in the network
|
||||
// stack.
|
||||
if self.phy.poll_link() == false {
|
||||
// Only reset the network stack once per link reconnection. This prevents us from
|
||||
// sending an excessive number of DHCP requests.
|
||||
if !self.network_was_reset {
|
||||
self.network_was_reset = true;
|
||||
self.mqtt.network_stack().handle_link_reset();
|
||||
}
|
||||
} else {
|
||||
self.network_was_reset = false;
|
||||
}
|
||||
|
||||
// Finally, service the MQTT interface and handle any necessary messages.
|
||||
match self.mqtt.update() {
|
||||
Ok(true) => Some(Action::UpdateSettings),
|
||||
Ok(false) if sleep => Some(Action::Sleep),
|
||||
Ok(_) => None,
|
||||
|
||||
Err(miniconf::MqttError::Network(
|
||||
smoltcp_nal::NetworkError::NoIpAddress,
|
||||
)) => None,
|
||||
|
||||
Err(error) => {
|
||||
log::info!("Unexpected error: {:?}", error);
|
||||
None
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Get the MQTT prefix of a device.
|
||||
///
|
||||
/// # Args
|
||||
|
|
|
|||
|
|
@ -0,0 +1,197 @@
|
|||
use crate::hardware::{
|
||||
design_parameters::MQTT_BROKER, CycleCounter, EthernetPhy, NetworkStack,
|
||||
};
|
||||
|
||||
use heapless::{consts, String};
|
||||
|
||||
use super::{Action, MqttMessage, SettingsResponse};
|
||||
|
||||
/// MQTT settings interface.
|
||||
pub struct MqttInterface<S>
|
||||
where
|
||||
S: miniconf::Miniconf + Default + Clone,
|
||||
{
|
||||
default_response_topic: String<consts::U128>,
|
||||
mqtt: minimq::MqttClient<minimq::consts::U256, NetworkStack>,
|
||||
settings: S,
|
||||
clock: CycleCounter,
|
||||
phy: EthernetPhy,
|
||||
network_was_reset: bool,
|
||||
subscribed: bool,
|
||||
settings_prefix: String<consts::U64>,
|
||||
}
|
||||
|
||||
impl<S> MqttInterface<S>
|
||||
where
|
||||
S: miniconf::Miniconf + Default + Clone,
|
||||
{
|
||||
/// Construct a new MQTT settings interface.
|
||||
///
|
||||
/// # Args
|
||||
/// * `stack` - The network stack to use for communication.
|
||||
/// * `client_id` - The ID of the MQTT client. May be an empty string for auto-assigning.
|
||||
/// * `prefix` - The MQTT device prefix to use for this device.
|
||||
/// * `phy` - The PHY driver for querying the link state.
|
||||
/// * `clock` - The clock to utilize for querying the current system time.
|
||||
pub fn new(
|
||||
stack: NetworkStack,
|
||||
client_id: &str,
|
||||
prefix: &str,
|
||||
phy: EthernetPhy,
|
||||
clock: CycleCounter,
|
||||
) -> Self {
|
||||
let mqtt =
|
||||
minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
|
||||
.unwrap();
|
||||
|
||||
let mut response_topic: String<consts::U128> = String::from(prefix);
|
||||
response_topic.push_str("/log").unwrap();
|
||||
|
||||
let mut settings_prefix: String<consts::U64> = String::from(prefix);
|
||||
settings_prefix.push_str("/settings").unwrap();
|
||||
|
||||
Self {
|
||||
mqtt,
|
||||
settings: S::default(),
|
||||
settings_prefix,
|
||||
clock,
|
||||
phy,
|
||||
default_response_topic: response_topic,
|
||||
network_was_reset: false,
|
||||
subscribed: false,
|
||||
}
|
||||
}
|
||||
|
||||
/// Update the MQTT interface and service the network
|
||||
///
|
||||
/// # Returns
|
||||
/// An option containing an action that should be completed as a result of network servicing.
|
||||
pub fn update(&mut self) -> Option<Action> {
|
||||
// First, service the network stack to process any inbound and outbound traffic.
|
||||
let sleep = match self.mqtt.network_stack.poll(self.clock.current_ms())
|
||||
{
|
||||
Ok(updated) => !updated,
|
||||
Err(err) => {
|
||||
log::info!("Network error: {:?}", err);
|
||||
false
|
||||
}
|
||||
};
|
||||
|
||||
// If the PHY indicates there's no more ethernet link, reset the DHCP server in the network
|
||||
// stack.
|
||||
match self.phy.poll_link() {
|
||||
true => self.network_was_reset = false,
|
||||
|
||||
// Only reset the network stack once per link reconnection. This prevents us from
|
||||
// sending an excessive number of DHCP requests.
|
||||
false if !self.network_was_reset => {
|
||||
self.network_was_reset = true;
|
||||
self.mqtt.network_stack.handle_link_reset();
|
||||
}
|
||||
_ => {}
|
||||
};
|
||||
|
||||
let mqtt_connected = match self.mqtt.is_connected() {
|
||||
Ok(connected) => connected,
|
||||
Err(minimq::Error::Network(
|
||||
smoltcp_nal::NetworkError::NoIpAddress,
|
||||
)) => false,
|
||||
Err(minimq::Error::Network(error)) => {
|
||||
log::info!("Unexpected network error: {:?}", error);
|
||||
false
|
||||
}
|
||||
Err(error) => {
|
||||
log::warn!("Unexpected MQTT error: {:?}", error);
|
||||
false
|
||||
}
|
||||
};
|
||||
|
||||
// If we're no longer subscribed to the settings topic, but we are connected to the broker,
|
||||
// resubscribe.
|
||||
if !self.subscribed && mqtt_connected {
|
||||
// Note(unwrap): We construct a string with two more characters than the prefix
|
||||
// strucutre, so we are guaranteed to have space for storage.
|
||||
let mut settings_topic: String<consts::U66> =
|
||||
String::from(self.settings_prefix.as_str());
|
||||
settings_topic.push_str("/#").unwrap();
|
||||
|
||||
// We do not currently handle or process potential subscription failures. Instead, this
|
||||
// failure will be logged through the stabilizer logging interface.
|
||||
self.mqtt.subscribe(&settings_topic, &[]).unwrap();
|
||||
self.subscribed = true;
|
||||
}
|
||||
|
||||
// Handle any MQTT traffic.
|
||||
let settings = &mut self.settings;
|
||||
let mqtt = &mut self.mqtt;
|
||||
let prefix = self.settings_prefix.as_str();
|
||||
let default_response_topic = self.default_response_topic.as_str();
|
||||
|
||||
let mut update = false;
|
||||
match mqtt.poll(|client, topic, message, properties| {
|
||||
let path = match topic.strip_prefix(prefix) {
|
||||
// For paths, we do not want to include the leading slash.
|
||||
Some(path) => {
|
||||
if path.len() > 0 {
|
||||
&path[1..]
|
||||
} else {
|
||||
path
|
||||
}
|
||||
}
|
||||
None => {
|
||||
info!("Unexpected MQTT topic: {}", topic);
|
||||
return;
|
||||
}
|
||||
};
|
||||
|
||||
let message: SettingsResponse = settings
|
||||
.string_set(path.split('/').peekable(), message)
|
||||
.and_then(|_| {
|
||||
update = true;
|
||||
Ok(())
|
||||
})
|
||||
.into();
|
||||
|
||||
let response =
|
||||
MqttMessage::new(properties, default_response_topic, &message);
|
||||
|
||||
client
|
||||
.publish(
|
||||
response.topic,
|
||||
&response.message,
|
||||
// TODO: When Minimq supports more QoS levels, this should be increased to
|
||||
// ensure that the client has received it at least once.
|
||||
minimq::QoS::AtMostOnce,
|
||||
&response.properties,
|
||||
)
|
||||
.ok();
|
||||
}) {
|
||||
// If settings updated,
|
||||
Ok(_) => {
|
||||
if update {
|
||||
Some(Action::UpdateSettings)
|
||||
} else if sleep {
|
||||
Some(Action::Sleep)
|
||||
} else {
|
||||
None
|
||||
}
|
||||
}
|
||||
Err(minimq::Error::Disconnected) => {
|
||||
self.subscribed = false;
|
||||
None
|
||||
}
|
||||
Err(minimq::Error::Network(
|
||||
smoltcp_nal::NetworkError::NoIpAddress,
|
||||
)) => None,
|
||||
|
||||
Err(error) => {
|
||||
log::info!("Unexpected error: {:?}", error);
|
||||
None
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn settings(&self) -> &S {
|
||||
&self.settings
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue