Merge branch 'feature/dma-updates' into feature/digital-input-stamp

.github/workflows/ci.yml

@@ -2,10 +2,9 @@ name: Continuous Integration
 
 on:
   push:
-    branches:
+    branches: [master, staging, trying]
-      - staging
+  pull_request:
-      - trying
+    branches: [master]
-      - master
 
 env:
   CARGO_TERM_COLOR: always

Cargo.lock

@@ -344,37 +344,12 @@ dependencies = [
  "cortex-m-semihosting",
 ]
 
-[[package]]
-name = "paste"
-version = "0.1.18"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "45ca20c77d80be666aef2b45486da86238fabe33e38306bd3118fe4af33fa880"
-dependencies = [
- "paste-impl",
- "proc-macro-hack",
-]
-
 [[package]]
 name = "paste"
 version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ba7ae1a2180ed02ddfdb5ab70c70d596a26dd642e097bb6fe78b1bde8588ed97"
 
-[[package]]
-name = "paste-impl"
-version = "0.1.18"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d95a7db200b97ef370c8e6de0088252f7e0dfff7d047a28528e47456c0fc98b6"
-dependencies = [
- "proc-macro-hack",
-]
-
-[[package]]
-name = "proc-macro-hack"
-version = "0.5.19"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dbf0c48bc1d91375ae5c3cd81e3722dff1abcf81a30960240640d223f59fe0e5"
-
 [[package]]
 name = "proc-macro2"
 version = "1.0.24"
@@ -478,7 +453,6 @@ checksum = "0fe46639fd2ec79eadf8fe719f237a7a0bd4dac5d957f1ca5bbdbc1c3c39e53a"
 dependencies = [
  "bitflags",
  "byteorder",
- "log",
  "managed",
 ]
 
@@ -503,8 +477,7 @@ dependencies = [
  "serde",
  "serde-json-core",
  "smoltcp",
- "stm32h7-ethernet",
+ "stm32h7xx-hal",
- "stm32h7xx-hal 0.8.0",
 ]
 
 [[package]]
@@ -513,17 +486,6 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
 
-[[package]]
-name = "stm32h7"
-version = "0.11.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e9beb5e2a223c82f263c3051bba4614aebc6e98bd40217df3cd8817c83ac7bd8"
-dependencies = [
- "bare-metal 0.2.5",
- "cortex-m",
- "vcell",
-]
-
 [[package]]
 name = "stm32h7"
 version = "0.12.1"
@@ -536,38 +498,10 @@ dependencies = [
  "vcell",
 ]
 
-[[package]]
-name = "stm32h7-ethernet"
-version = "0.1.1"
-source = "git+https://github.com/quartiq/stm32h7-ethernet.git#cf9b8bb2e1b440d8ada6ac6048f48dc4ed9c269a"
-dependencies = [
- "cortex-m",
- "log",
- "smoltcp",
- "stm32h7xx-hal 0.5.0",
-]
-
-[[package]]
-name = "stm32h7xx-hal"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "987c66628f30012ed9a41cc738421c5caece03292c0cc8fd1e99956f122735bd"
-dependencies = [
- "bare-metal 0.2.5",
- "cast",
- "cortex-m",
- "cortex-m-rt",
- "embedded-hal",
- "nb 0.1.3",
- "paste 0.1.18",
- "stm32h7 0.11.0",
- "void",
-]
-
 [[package]]
 name = "stm32h7xx-hal"
 version = "0.8.0"
-source = "git+https://github.com/quartiq/stm32h7xx-hal?branch=feature/stabilizer-dma#8516690d4f35bc4bb184eba2ee8b48d4490ec85b"
+source = "git+https://github.com/quartiq/stm32h7xx-hal?branch=feature/dma-rtic-example#d8cb6fa5099282665f5e5068a9dcdc9ebaa63240"
 dependencies = [
  "bare-metal 1.0.0",
  "cast",
@@ -576,9 +510,9 @@ dependencies = [
  "embedded-dma",
  "embedded-hal",
  "nb 1.0.0",
- "paste 1.0.2",
+ "paste",
  "smoltcp",
- "stm32h7 0.12.1",
+ "stm32h7",
  "void",
 ]
 

Cargo.toml

@@ -52,15 +52,10 @@ default-features = false
 [dependencies.ad9959]
 path = "ad9959"
 
-[dependencies.stm32h7-ethernet]
-git = "https://github.com/quartiq/stm32h7-ethernet.git"
-branch = "master"
-features = ["stm32h743v"]
-
 [dependencies.stm32h7xx-hal]
 features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
 git = "https://github.com/quartiq/stm32h7xx-hal"
-branch = "feature/stabilizer-dma"
+branch = "feature/dma-rtic-example"
 
 [features]
 semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
@@ -70,7 +65,7 @@ nightly = ["cortex-m/inline-asm"]
 [profile.dev]
 codegen-units = 1
 incremental = false
-opt-level = 1
+opt-level = 3
 
 [profile.release]
 opt-level = 3

cargosha256.nix

@@ -1 +1 @@
-"1626aw5ln581s1jzsf74y0djh715hdsjxzd3ck0xnb84a6kd4hkw"
+"05b1xcr9jachnih0d6i63cfjcb88xrddmr2kf4h3vfwpjf8y9w10"

openocd.gdb

@@ -26,6 +26,3 @@ set var $t0=*$cc
 continue
 end
 #set var $t0=*$cc
-
-source ../../PyCortexMDebug/cmdebug/svd_gdb.py
-svd_load ~/Downloads/STM32H743x.svd

src/adc.rs

@@ -1,13 +1,36 @@
+///! 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, DMAReq, DmaConfig, MemoryToPeripheral, PeripheralToMemory, Priority,
-    Stream, TargetAddress, Transfer,
+    TargetAddress, Transfer,
 };
 
+// The desired ADC input buffer size. This is use configurable.
 const INPUT_BUFFER_SIZE: usize = 1;
 
+// 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; INPUT_BUFFER_SIZE] = [0; INPUT_BUFFER_SIZE];
 
@@ -20,8 +43,9 @@ static mut ADC1_BUF0: [u16; INPUT_BUFFER_SIZE] = [0; INPUT_BUFFER_SIZE];
 #[link_section = ".axisram.buffers"]
 static mut ADC1_BUF1: [u16; INPUT_BUFFER_SIZE] = [0; INPUT_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 {}
-
 impl SPI2 {
     pub fn new() -> Self {
         Self {}
@@ -29,18 +53,23 @@ impl SPI2 {
 }
 
 unsafe impl TargetAddress<MemoryToPeripheral> for SPI2 {
+    /// SPI2 is configured to operate using 16-bit transfer words.
     type MemSize = u16;
 
-    const REQUEST_LINE: Option<u8> = Some(DMAReq::TIM2_UP as u8);
+    /// 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 {
         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 {}
-
 impl SPI3 {
     pub fn new() -> Self {
         Self {}
@@ -48,26 +77,37 @@ impl SPI3 {
 }
 
 unsafe impl TargetAddress<MemoryToPeripheral> for SPI3 {
+    /// SPI3 is configured to operate using 16-bit transfer words.
     type MemSize = u16;
 
-    const REQUEST_LINE: Option<u8> = Some(DMAReq::TIM2_UP as u8);
+    /// 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 {
         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; INPUT_BUFFER_SIZE], &[u16; INPUT_BUFFER_SIZE]) {
@@ -77,6 +117,7 @@ impl AdcInputs {
     }
 }
 
+/// Represents data associated with ADC0.
 pub struct Adc0Input {
     next_buffer: Option<&'static mut [u16; INPUT_BUFFER_SIZE]>,
     transfer: Transfer<
@@ -85,72 +126,113 @@ pub struct Adc0Input {
         PeripheralToMemory,
         &'static mut [u16; INPUT_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.
     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>,
     ) -> Self {
+        // 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()
             .memory_increment(false)
             .peripheral_increment(false)
             .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(),
+                SPI2::new(),
                 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)
             .peripheral_increment(false);
 
+        // 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,
+                spi,
                 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();
 
-        let spi = spi.enable();
+            // 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());
+        });
 
-        data_transfer.start();
+        trigger_transfer.start(|_| {});
-        trigger_transfer.start();
 
         Self {
             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; INPUT_BUFFER_SIZE] {
         let next_buffer = self.next_buffer.take().unwrap();
-        while hal::dma::dma::Stream1::<hal::stm32::DMA1>::is_enabled() {}
+
+        // Wait for the transfer to fully complete before continuing.
+        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; INPUT_BUFFER_SIZE]>,
     transfer: Transfer<
@@ -159,68 +241,107 @@ pub struct Adc1Input {
         PeripheralToMemory,
         &'static mut [u16; INPUT_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.
     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>,
     ) -> Self {
+        // 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()
             .memory_increment(false)
             .peripheral_increment(false)
             .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(),
+                SPI3::new(),
                 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)
             .peripheral_increment(false);
 
+        // 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,
+                spi,
                 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();
 
-        let spi = spi.enable();
+            // 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());
+        });
 
-        data_transfer.start();
+        trigger_transfer.start(|_| {});
-        trigger_transfer.start();
 
         Self {
             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; INPUT_BUFFER_SIZE] {
         let next_buffer = self.next_buffer.take().unwrap();
-        while hal::dma::dma::Stream3::<hal::stm32::DMA1>::is_enabled() {}
+
+        // Wait for the transfer to fully complete before continuing.
+        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

@@ -1,21 +1,44 @@
+///! Stabilizer DAC output control
+///!
+///! Stabilizer output DACs do not currently rely on DMA requests for generating output.
+///! Instead, the DACs utilize an internal queue for storing output codes. A timer then periodically
+///! generates an interrupt which triggers an update of the DACs via a write over SPI.
 use super::hal;
 use heapless::consts;
 
+/// Controller structure for managing the DAC outputs.
 pub struct DacOutputs {
     dac0_spi: hal::spi::Spi<hal::stm32::SPI4, hal::spi::Enabled, u16>,
     dac1_spi: hal::spi::Spi<hal::stm32::SPI5, hal::spi::Enabled, u16>,
-    outputs: heapless::spsc::Queue<(u16, u16), consts::U32>,
     timer: hal::timer::Timer<hal::stm32::TIM3>,
+
+    // The queue is provided a default length of 32 updates, but this queue can be updated by the
+    // end user to be larger if necessary.
+    outputs: heapless::spsc::Queue<(u16, u16), consts::U32>,
 }
 
 impl DacOutputs {
+    /// Construct a new set of DAC output controls
+    ///
+    /// # Args
+    /// * `dac0_spi` - The SPI interface to the DAC0 output.
+    /// * `dac1_spi` - The SPI interface to the DAC1 output.
+    /// * `timer` - The timer used to generate periodic events for updating the DACs.
     pub fn new(
-        dac0_spi: hal::spi::Spi<hal::stm32::SPI4, hal::spi::Enabled, u16>,
+        mut dac0_spi: hal::spi::Spi<hal::stm32::SPI4, hal::spi::Enabled, u16>,
-        dac1_spi: hal::spi::Spi<hal::stm32::SPI5, hal::spi::Enabled, u16>,
+        mut dac1_spi: hal::spi::Spi<hal::stm32::SPI5, hal::spi::Enabled, u16>,
         mut timer: hal::timer::Timer<hal::stm32::TIM3>,
     ) -> Self {
+        // Start the DAC SPI interfaces in infinite transaction mode. CS is configured in
+        // auto-suspend mode.
         dac0_spi.inner().cr1.modify(|_, w| w.cstart().started());
         dac1_spi.inner().cr1.modify(|_, w| w.cstart().started());
+
+        dac0_spi.listen(hal::spi::Event::Error);
+        dac1_spi.listen(hal::spi::Event::Error);
+
+        // Stop the timer and begin listening for timeouts. Timeouts will be used as a means to
+        // generate new DAC outputs.
         timer.pause();
         timer.reset_counter();
         timer.clear_irq();
@@ -29,11 +52,28 @@ impl DacOutputs {
         }
     }
 
+    /// Push a set of new DAC output codes to the internal queue.
+    ///
+    /// # Note
+    /// The earlier DAC output codes will be generated within 1 update cycle of the codes. This is a
+    /// fixed latency currently.
+    ///
+    /// This function will panic if too many codes are written.
+    ///
+    /// # Args
+    /// * `dac0_value` - The value to enqueue for a DAC0 update.
+    /// * `dac1_value` - The value to enqueue for a DAC1 update.
     pub fn push(&mut self, dac0_value: u16, dac1_value: u16) {
         self.outputs.enqueue((dac0_value, dac1_value)).unwrap();
         self.timer.resume();
     }
 
+    /// Update the DAC codes with the next set of values in the internal queue.
+    ///
+    /// # Note
+    /// This is intended to be called from the TIM3 update ISR.
+    ///
+    /// If the last value in the queue is used, the timer is stopped.
     pub fn update(&mut self) {
         self.timer.clear_irq();
         match self.outputs.dequeue() {
@@ -46,7 +86,19 @@ impl DacOutputs {
         };
     }
 
+    /// Write immediate values to the DAC outputs.
+    ///
+    /// # Note
+    /// The DACs will be updated as soon as the SPI transfer completes, which will be nominally
+    /// 320nS after this function call.
+    ///
+    /// # Args
+    /// * `dac0_value` - The output code to write to DAC0.
+    /// * `dac1_value` - The output code to write to DAC1.
     pub fn write(&mut self, dac0_value: u16, dac1_value: u16) {
+        // In order to optimize throughput and minimize latency, the DAC codes are written directly
+        // into the SPI TX FIFO. No error checking is conducted. Errors are handled via interrupts
+        // instead.
         unsafe {
             core::ptr::write_volatile(
                 &self.dac0_spi.inner().txdr as *const _ as *mut u16,

src/iir.rs

@@ -105,14 +105,4 @@ impl IIR {
         xy[xy.len() / 2] = y0;
         y0
     }
-
-    pub fn update_from_adc_sample(
-        &mut self,
-        sample: u16,
-        state: &mut IIRState,
-    ) -> u16 {
-        let x0 = f32::from(sample as i16);
-        let y0 = self.update(state, x0);
-        y0 as i16 as u16 ^ 0x8000
-    }
 }

src/main.rs

@@ -1,3 +1,4 @@
+#![deny(warnings)]
 #![allow(clippy::missing_safety_doc)]
 #![no_std]
 #![no_main]
@@ -38,12 +39,15 @@ use hal::{
     dma::{
         config::Priority,
         dma::{DMAReq, DmaConfig},
-        traits::{Stream, TargetAddress},
+        traits::TargetAddress,
         MemoryToPeripheral, PeripheralToMemory, Transfer,
     },
     ethernet::{self, PHY},
 };
+
 use smoltcp as net;
+use smoltcp::iface::Routes;
+use smoltcp::wire::Ipv4Address;
 
 use heapless::{consts::*, String};
 
@@ -91,6 +95,7 @@ mod build_info {
 pub struct NetStorage {
     ip_addrs: [net::wire::IpCidr; 1],
     neighbor_cache: [Option<(net::wire::IpAddress, net::iface::Neighbor)>; 8],
+    routes_storage: [Option<(smoltcp::wire::IpCidr, smoltcp::iface::Route)>; 1],
 }
 
 static mut NET_STORE: NetStorage = NetStorage {
@@ -100,6 +105,8 @@ static mut NET_STORE: NetStorage = NetStorage {
     )],
 
     neighbor_cache: [None; 8],
+
+    routes_storage: [None; 1],
 };
 
 const SCALE: f32 = ((1 << 15) - 1) as f32;
@@ -702,6 +709,10 @@ const APP: () = {
                 24,
             );
 
+            let default_v4_gw = Ipv4Address::new(10, 0, 16, 1);
+            let mut routes = Routes::new(&mut store.routes_storage[..]);
+            routes.add_default_ipv4_route(default_v4_gw).unwrap();
+
             let neighbor_cache =
                 net::iface::NeighborCache::new(&mut store.neighbor_cache[..]);
 
@@ -709,6 +720,7 @@ const APP: () = {
                 .ethernet_addr(mac_addr)
                 .neighbor_cache(neighbor_cache)
                 .ip_addrs(&mut store.ip_addrs[..])
+                .routes(routes)
                 .finalize();
 
             (interface, lan8742a)
@@ -731,8 +743,14 @@ const APP: () = {
             &ccdr.clocks,
         );
         {
+            // Listen to the CH1 and CH2 comparison events. These channels should have a value of
+            // zero loaded into them, so the event should occur whenever the timer overflows. Note
+            // that we use channels instead of timer updates because each SPI DMA transfer needs a
+            // unique request line.
             let t2_regs = unsafe { &*hal::stm32::TIM2::ptr() };
-            t2_regs.dier.modify(|_, w| w.ude().set_bit());
+            t2_regs
+                .dier
+                .modify(|_, w| w.cc1de().set_bit().cc2de().set_bit());
         }
 
         init::LateResources {
@@ -772,11 +790,19 @@ const APP: () = {
             c.resources.adcs.transfer_complete_handler();
 
         for (adc0, adc1) in adc0_samples.iter().zip(adc1_samples.iter()) {
-            let result_adc0 = c.resources.iir_ch[0]
+            let result_adc0 = {
-                .update_from_adc_sample(*adc0, &mut c.resources.iir_state[0]);
+                let x0 = f32::from(*adc0 as i16);
+                let y0 = c.resources.iir_ch[0]
+                    .update(&mut c.resources.iir_state[0], x0);
+                y0 as i16 as u16 ^ 0x8000
+            };
 
-            let result_adc1 = c.resources.iir_ch[1]
+            let result_adc1 = {
-                .update_from_adc_sample(*adc1, &mut c.resources.iir_state[1]);
+                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
@@ -982,6 +1008,16 @@ const APP: () = {
         panic!("ADC0 input overrun");
     }
 
+    #[task(binds = SPI4, priority = 1)]
+    fn spi4(_: spi4::Context) {
+        panic!("DAC0 output error");
+    }
+
+    #[task(binds = SPI5, priority = 1)]
+    fn spi5(_: spi5::Context) {
+        panic!("DAC1 output error");
+    }
+
     extern "C" {
         // hw interrupt handlers for RTIC to use for scheduling tasks
         // one per priority