kai
/
pounder_test
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Merge #117 

117: Updating stabilizer devices to utilize 0-based indexing r=jordens a=ryan-summers

This PR updates all stabilizer-based devices to utilize 0-based indexing as opposed to 1-based. This aligns firmware with the labels on the front of the stabilizer device to avoid confusion.

Co-authored-by: Ryan Summers <ryan.summers@vertigo-designs.com>
This commit is contained in:
bors[bot] 2020-06-22 06:48:08 +00:00 committed by GitHub
parent fa7037ac0b 093dca5928
commit c536b19e88
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 50 additions and 49 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

99
src/main.rs
View File

@ -96,12 +96,12 @@ const SPI_START_CODE: u32 = 0x201;
const TCP_RX_BUFFER_SIZE: usize = 8192; const TCP_RX_BUFFER_SIZE: usize = 8192;
const TCP_TX_BUFFER_SIZE: usize = 8192; const TCP_TX_BUFFER_SIZE: usize = 8192;
type AFE1 = afe::ProgrammableGainAmplifier< type AFE0 = afe::ProgrammableGainAmplifier<
hal::gpio::gpiof::PF2<hal::gpio::Output<hal::gpio::PushPull>>, hal::gpio::gpiof::PF2<hal::gpio::Output<hal::gpio::PushPull>>,
hal::gpio::gpiof::PF5<hal::gpio::Output<hal::gpio::PushPull>>, hal::gpio::gpiof::PF5<hal::gpio::Output<hal::gpio::PushPull>>,
>; >;
type AFE2 = afe::ProgrammableGainAmplifier< type AFE1 = afe::ProgrammableGainAmplifier<
hal::gpio::gpiod::PD14<hal::gpio::Output<hal::gpio::PushPull>>, hal::gpio::gpiod::PD14<hal::gpio::Output<hal::gpio::PushPull>>,
hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>, hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>,
>; >;
@ -160,13 +160,13 @@ macro_rules! route_request {
#[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)] #[rtic::app(device = stm32h7xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
const APP: () = { const APP: () = {
struct Resources { struct Resources {
adc1: hal::spi::Spi<hal::stm32::SPI2>, adc0: hal::spi::Spi<hal::stm32::SPI2>,
dac1: hal::spi::Spi<hal::stm32::SPI4>, dac0: hal::spi::Spi<hal::stm32::SPI4>,
afe1: AFE1, afe0: AFE0,
adc2: hal::spi::Spi<hal::stm32::SPI3>, adc1: hal::spi::Spi<hal::stm32::SPI3>,
dac2: hal::spi::Spi<hal::stm32::SPI5>, dac1: hal::spi::Spi<hal::stm32::SPI5>,
afe2: AFE2, afe1: AFE1,
eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>, eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>,
@ -240,20 +240,20 @@ const APP: () = {
let gpiof = dp.GPIOF.split(&mut clocks); let gpiof = dp.GPIOF.split(&mut clocks);
let gpiog = dp.GPIOG.split(&mut clocks); let gpiog = dp.GPIOG.split(&mut clocks);
let afe1 = { let afe0 = {
let a0_pin = gpiof.pf2.into_push_pull_output(); let a0_pin = gpiof.pf2.into_push_pull_output();
let a1_pin = gpiof.pf5.into_push_pull_output(); let a1_pin = gpiof.pf5.into_push_pull_output();
afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin) afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
}; };
let afe2 = { let afe1 = {
let a0_pin = gpiod.pd14.into_push_pull_output(); let a0_pin = gpiod.pd14.into_push_pull_output();
let a1_pin = gpiod.pd15.into_push_pull_output(); let a1_pin = gpiod.pd15.into_push_pull_output();
afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin) afe::ProgrammableGainAmplifier::new(a0_pin, a1_pin)
}; };
// Configure the SPI interfaces to the ADCs and DACs. // Configure the SPI interfaces to the ADCs and DACs.
let adc1_spi = { let adc0_spi = {
let spi_miso = gpiob let spi_miso = gpiob
.pb14 .pb14
.into_alternate_af5() .into_alternate_af5()
@ -286,7 +286,7 @@ const APP: () = {
spi spi
}; };
let adc2_spi = { let adc1_spi = {
let spi_miso = gpiob let spi_miso = gpiob
.pb4 .pb4
.into_alternate_af6() .into_alternate_af6()
@ -319,7 +319,7 @@ const APP: () = {
spi spi
}; };
let dac1_spi = { let dac0_spi = {
let spi_miso = gpioe let spi_miso = gpioe
.pe5 .pe5
.into_alternate_af5() .into_alternate_af5()
@ -348,7 +348,7 @@ const APP: () = {
) )
}; };
let dac2_spi = { let dac1_spi = {
let spi_miso = gpiof let spi_miso = gpiof
.pf8 .pf8
.into_alternate_af5() .into_alternate_af5()
@ -624,14 +624,14 @@ const APP: () = {
dma.configure_m2p_stream( dma.configure_m2p_stream(
hal::dma::Stream::One, hal::dma::Stream::One,
&SPI_START_CODE as *const _ as u32, &SPI_START_CODE as *const _ as u32,
&adc1_spi.spi.cr1 as *const _ as u32, &adc0_spi.spi.cr1 as *const _ as u32,
hal::dma::DMAREQ_ID::TIM2_CH1, hal::dma::DMAREQ_ID::TIM2_CH1,
); );
dma.configure_m2p_stream( dma.configure_m2p_stream(
hal::dma::Stream::Two, hal::dma::Stream::Two,
&SPI_START_CODE as *const _ as u32, &SPI_START_CODE as *const _ as u32,
&adc2_spi.spi.cr1 as *const _ as u32, &adc1_spi.spi.cr1 as *const _ as u32,
hal::dma::DMAREQ_ID::TIM2_CH2, hal::dma::DMAREQ_ID::TIM2_CH2,
); );
@ -644,12 +644,13 @@ const APP: () = {
timer2.listen(hal::timer::Event::ChannelTwoDma); timer2.listen(hal::timer::Event::ChannelTwoDma);
init::LateResources { init::LateResources {
afe0: afe0,
adc0: adc0_spi,
dac0: dac0_spi,
afe1: afe1,
adc1: adc1_spi, adc1: adc1_spi,
dac1: dac1_spi, dac1: dac1_spi,
adc2: adc2_spi,
dac2: dac2_spi,
afe1,
afe2,
timer: timer2, timer: timer2,
pounder: pounder_devices, pounder: pounder_devices,
@ -661,35 +662,15 @@ const APP: () = {
} }
} }
#[task(binds = SPI3, resources = [adc2, dac2, iir_state, iir_ch], priority = 2)] #[task(binds = SPI3, resources = [adc1, dac1, iir_state, iir_ch], priority = 2)]
fn spi3(c: spi3::Context) { fn spi3(c: spi3::Context) {
c.resources.adc2.spi.ifcr.write(|w| w.eotc().set_bit());
let output: u16 = {
let a: u16 = c.resources.adc2.read().unwrap();
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
.dac2
.spi
.ifcr
.write(|w| w.eotc().set_bit().txtfc().set_bit());
c.resources.dac2.send(output).unwrap();
}
#[task(binds = SPI2, resources = [adc1, dac1, iir_state, iir_ch], priority = 2)]
fn spi2(c: spi2::Context) {
c.resources.adc1.spi.ifcr.write(|w| w.eotc().set_bit()); c.resources.adc1.spi.ifcr.write(|w| w.eotc().set_bit());
let output: u16 = { let output: u16 = {
let a: u16 = c.resources.adc1.read().unwrap(); let a: u16 = c.resources.adc1.read().unwrap();
let x0 = f32::from(a as i16); let x0 = f32::from(a as i16);
let y0 = let y0 =
c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0); c.resources.iir_ch[1].update(&mut c.resources.iir_state[1], x0);
y0 as i16 as u16 ^ 0x8000 y0 as i16 as u16 ^ 0x8000
}; };
@ -701,7 +682,27 @@ const APP: () = {
c.resources.dac1.send(output).unwrap(); c.resources.dac1.send(output).unwrap();
} }
#[idle(resources=[net_interface, pounder, mac_addr, eth_mac, iir_state, iir_ch, afe1, afe2])] #[task(binds = SPI2, resources = [adc0, dac0, iir_state, iir_ch], priority = 2)]
fn spi2(c: spi2::Context) {
c.resources.adc0.spi.ifcr.write(|w| w.eotc().set_bit());
let output: u16 = {
let a: u16 = c.resources.adc0.read().unwrap();
let x0 = f32::from(a as i16);
let y0 =
c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0);
y0 as i16 as u16 ^ 0x8000
};
c.resources
.dac0
.spi
.ifcr
.write(|w| w.eotc().set_bit().txtfc().set_bit());
c.resources.dac0.send(output).unwrap();
}
#[idle(resources=[net_interface, pounder, mac_addr, eth_mac, iir_state, iir_ch, afe0, afe1])]
fn idle(mut c: idle::Context) -> ! { fn idle(mut c: idle::Context) -> ! {
let mut socket_set_entries: [_; 8] = Default::default(); let mut socket_set_entries: [_; 8] = Default::default();
let mut sockets = let mut sockets =
@ -761,8 +762,8 @@ const APP: () = {
Ok::<server::Status, ()>(state) Ok::<server::Status, ()>(state)
}), }),
"stabilizer/afe0/gain": (|| c.resources.afe0.get_gain()),
"stabilizer/afe1/gain": (|| c.resources.afe1.get_gain()), "stabilizer/afe1/gain": (|| c.resources.afe1.get_gain()),
"stabilizer/afe2/gain": (|| c.resources.afe2.get_gain()),
"pounder/in0": (|| { "pounder/in0": (|| {
match c.resources.pounder { match c.resources.pounder {
Some(pounder) => Some(pounder) =>
@ -800,7 +801,7 @@ const APP: () = {
], ],
modifiable_attributes: [ modifiable_attributes: [
"stabilizer/iir1/state": server::IirRequest, (|req: server::IirRequest| { "stabilizer/iir0/state": server::IirRequest, (|req: server::IirRequest| {
c.resources.iir_ch.lock(|iir_ch| { c.resources.iir_ch.lock(|iir_ch| {
if req.channel > 1 { if req.channel > 1 {
return Err(()); return Err(());
@ -811,7 +812,7 @@ const APP: () = {
Ok::<server::IirRequest, ()>(req) Ok::<server::IirRequest, ()>(req)
}) })
}), }),
"stabilizer/iir2/state": server::IirRequest, (|req: server::IirRequest| { "stabilizer/iir1/state": server::IirRequest, (|req: server::IirRequest| {
c.resources.iir_ch.lock(|iir_ch| { c.resources.iir_ch.lock(|iir_ch| {
if req.channel > 1 { if req.channel > 1 {
return Err(()); return Err(());
@ -856,11 +857,11 @@ const APP: () = {
_ => Err(pounder::Error::Access), _ => Err(pounder::Error::Access),
} }
}), }),
"stabilizer/afe0/gain": afe::Gain, (|gain| {
Ok::<(), ()>(c.resources.afe0.set_gain(gain))
}),
"stabilizer/afe1/gain": afe::Gain, (|gain| { "stabilizer/afe1/gain": afe::Gain, (|gain| {
Ok::<(), ()>(c.resources.afe1.set_gain(gain)) Ok::<(), ()>(c.resources.afe1.set_gain(gain))
}),
"stabilizer/afe2/gain": afe::Gain, (|gain| {
Ok::<(), ()>(c.resources.afe2.set_gain(gain))
}) })
] ]
) )