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Updating settings update function

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This commit is contained in:
Ryan Summers 2021-02-17 12:59:24 +01:00
parent 13e02710cd
commit cb16e9a85f
5 changed files with 51 additions and 44 deletions
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16
Cargo.lock generated
View File

@ -351,7 +351,6 @@ dependencies = [
[[package]]
name = "derive_stringset"
version = "0.1.0"
source = "git+https://github.com/vertigo-designs/miniconf.git?branch=develop#256098cafc6db93b456b5014c8ef1b835b5e239d"
dependencies = [
"proc-macro2",
"quote",
@ -365,10 +364,10 @@ dependencies = [
"criterion",
"generic-array 0.14.4",
"libm",
"miniconf",
"ndarray",
"rand",
"serde",
"serde-json-core 0.1.0",
]
[[package]]
@ -620,13 +619,12 @@ dependencies = [
[[package]]
name = "miniconf"
version = "0.1.0"
source = "git+https://github.com/vertigo-designs/miniconf.git?branch=develop#256098cafc6db93b456b5014c8ef1b835b5e239d"
dependencies = [
"derive_stringset",
"heapless",
"minimq",
"serde",
"serde-json-core 0.2.0",
"serde-json-core",
]
[[package]]
@ -966,16 +964,6 @@ dependencies = [
"serde_derive",
]
[[package]]
name = "serde-json-core"
version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "cbf406405ada9ef326ca78677324ac66994ff348fc48a16030be08caeed29825"
dependencies = [
"heapless",
"serde",
]
[[package]]
name = "serde-json-core"
version = "0.2.0"

26
dsp/src/iir.rs
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@ -1,4 +1,5 @@
use serde::{Deserialize, Serialize};
use serde::Deserialize;
use miniconf::StringSet;
use super::{abs, copysign, macc, max, min};
use core::f32;
@ -11,8 +12,7 @@ use core::f32;
/// To represent the IIR coefficients, this contains the feed-forward
/// coefficients (b0, b1, b2) followd by the negated feed-back coefficients
/// (-a1, -a2), all five normalized such that a0 = 1.
#[derive(Copy, Clone, Default, Deserialize, Serialize)]
pub struct Vec5(pub [f32; 5]);
pub type Vec5 = [f32; 5];
/// IIR configuration.
///
@ -39,7 +39,7 @@ pub struct Vec5(pub [f32; 5]);
/// Therefore it can trivially implement bump-less transfer.
/// * Cascading multiple IIR filters allows stable and robust
/// implementation of transfer functions beyond bequadratic terms.
#[derive(Copy, Clone, Default, Deserialize, Serialize)]
#[derive(Copy, Clone, Debug, Default, Deserialize, StringSet)]
pub struct IIR {
pub ba: Vec5,
pub y_offset: f32,
@ -50,7 +50,7 @@ pub struct IIR {
impl IIR {
pub const fn new(gain: f32, y_min: f32, y_max: f32) -> Self {
Self {
ba: Vec5([gain, 0., 0., 0., 0.]),
ba: [gain, 0., 0., 0., 0.],
y_offset: 0.,
y_min,
y_max,
@ -84,13 +84,13 @@ impl IIR {
}
(a1, b0, b1)
};
self.ba.0.copy_from_slice(&[b0, b1, 0., a1, 0.]);
self.ba.copy_from_slice(&[b0, b1, 0., a1, 0.]);
Ok(())
}
/// Compute the overall (DC feed-forward) gain.
pub fn get_k(&self) -> f32 {
self.ba.0[..3].iter().sum()
self.ba[..3].iter().sum()
}
/// Compute input-referred (`x`) offset from output (`y`) offset.
@ -118,21 +118,21 @@ impl IIR {
/// * `xy` - Current filter state.
/// * `x0` - New input.
pub fn update(&self, xy: &mut Vec5, x0: f32) -> f32 {
let n = self.ba.0.len();
debug_assert!(xy.0.len() == n);
let n = self.ba.len();
debug_assert!(xy.len() == n);
// `xy` contains x0 x1 y0 y1 y2
// Increment time x1 x2 y1 y2 y3
// Shift x1 x1 x2 y1 y2
// This unrolls better than xy.rotate_right(1)
xy.0.copy_within(0..n - 1, 1);
xy.copy_within(0..n - 1, 1);
// Store x0 x0 x1 x2 y1 y2
xy.0[0] = x0;
xy[0] = x0;
// Compute y0 by multiply-accumulate
let y0 = macc(self.y_offset, &xy.0, &self.ba.0);
let y0 = macc(self.y_offset, xy, &self.ba);
// Limit y0
let y0 = max(self.y_min, min(self.y_max, y0));
// Store y0 x0 x1 y0 y1 y2
xy.0[n / 2] = y0;
xy[n / 2] = y0;
y0
}
}

38
src/bin/dual-iir.rs
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@ -15,7 +15,7 @@ use serde::Deserialize;
use dsp::iir;
use hardware::{
Adc0Input, Adc1Input, CycleCounter, Dac0Output, Dac1Output, NetworkStack,
AFE0, AFE1,
AFE0, AFE1, AfeGain,
};
const SCALE: f32 = i16::MAX as _;
@ -25,12 +25,18 @@ const IIR_CASCADE_LENGTH: usize = 1;
#[derive(Debug, Deserialize, StringSet)]
pub struct Settings {
test: u32,
afe: [AfeGain; 2],
iir_state: [[iir::Vec5; IIR_CASCADE_LENGTH]; 2],
iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
}
impl Settings {
pub fn new() -> Self {
Self { test: 0 }
impl Default for Settings {
fn default() -> Self {
Self {
afe: [AfeGain::G1, AfeGain::G1],
iir_state: [[[0.; 5]; IIR_CASCADE_LENGTH]; 2],
iir_ch: [[iir::IIR::new(1., -SCALE, SCALE); IIR_CASCADE_LENGTH]; 2],
}
}
}
@ -45,7 +51,7 @@ const APP: () = {
clock: CycleCounter,
// Format: iir_state[ch][cascade-no][coeff]
#[init([[iir::Vec5([0.; 5]); IIR_CASCADE_LENGTH]; 2])]
#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
iir_state: [[iir::Vec5; IIR_CASCADE_LENGTH]; 2],
#[init([[iir::IIR::new(1., -SCALE, SCALE); IIR_CASCADE_LENGTH]; 2])]
iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
@ -67,7 +73,7 @@ const APP: () = {
.unwrap()
};
MqttInterface::new(mqtt_client, "stabilizer", Settings::new())
MqttInterface::new(mqtt_client, "stabilizer", Settings::default())
.unwrap()
};
@ -160,11 +166,19 @@ const APP: () = {
}
}
#[task(priority = 1, resources=[mqtt_interface, afes, iir_ch])]
fn settings_update(c: settings_update::Context) {
let _settings = &c.resources.mqtt_interface.settings;
//c.resources.iir_ch.lock(|iir| *iir = settings.iir);
// TODO: Update AFEs
#[task(priority = 1, resources=[mqtt_interface, afes, iir_ch, iir_state])]
fn settings_update(mut c: settings_update::Context) {
let settings = &c.resources.mqtt_interface.settings;
// Update the IIR channels.
c.resources.iir_ch.lock(|iir| *iir = settings.iir_ch);
// Update the IIR states.
c.resources.iir_state.lock(|iir| *iir = settings.iir_state);
// Update AFEs
c.resources.afes.0.set_gain(settings.afe[0]);
c.resources.afes.1.set_gain(settings.afe[1]);
}
#[task(binds = ETH, priority = 1)]

3
src/hardware/afe.rs
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@ -1,9 +1,10 @@
use serde::{Deserialize, Serialize};
use miniconf::StringSet;
use core::convert::TryFrom;
use enum_iterator::IntoEnumIterator;
#[derive(Copy, Clone, Debug, Serialize, Deserialize, IntoEnumIterator)]
#[derive(Copy, Clone, Debug, Serialize, Deserialize, IntoEnumIterator, StringSet)]
pub enum Gain {
G1 = 0b00,
G2 = 0b01,

12
src/hardware/cycle_counter.rs
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@ -3,7 +3,7 @@ use rtic::cyccnt::{Duration, Instant, U32Ext};
use stm32h7xx_hal::time::Hertz;
pub struct CycleCounter {
next_tick: Instant,
next_tick: Option<Instant>,
ticks: u32,
increment: Duration,
}
@ -20,14 +20,18 @@ impl CycleCounter {
Self {
increment,
ticks: 0,
next_tick: Instant::now() + increment,
next_tick: None,
}
}
pub fn current_ms(&mut self) -> u32 {
if self.next_tick.is_none() {
self.next_tick = Some(Instant::now() + self.increment);
}
let now = Instant::now();
while now > self.next_tick {
self.next_tick += self.increment;
while now > self.next_tick.unwrap() {
*self.next_tick.as_mut().unwrap() += self.increment;
self.ticks += 1;
}