Merge branch 'master' into new-pac

* master:
  python configuration tool
  json command interface
  use serde-json-core [wip]
  README: try SVG again
  add Nix build files
  png
  README: diagram and photo

Cargo.lock

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 "checksum rustc_version 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
+"checksum ryu 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)" = "b96a9549dc8d48f2c283938303c4b5a77aa29bfbc5b54b084fb1630408899a8f"
 "checksum semver 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)" = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
 "checksum semver-parser 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
-"checksum serde 1.0.90 (registry+https://github.com/rust-lang/crates.io-index)" = "aa5f7c20820475babd2c077c3ab5f8c77a31c15e16ea38687b4c02d3e48680f4"
+"checksum serde 1.0.91 (registry+https://github.com/rust-lang/crates.io-index)" = "a72e9b96fa45ce22a4bc23da3858dfccfd60acd28a25bcd328a98fdd6bea43fd"
-"checksum smallvec 0.6.9 (registry+https://github.com/rust-lang/crates.io-index)" = "c4488ae950c49d403731982257768f48fada354a5203fe81f9bb6f43ca9002be"
+"checksum serde_derive 1.0.91 (registry+https://github.com/rust-lang/crates.io-index)" = "101b495b109a3e3ca8c4cbe44cf62391527cdfb6ba15821c5ce80bcd5ea23f9f"
 "checksum smoltcp 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)" = "fef582369edb298c6c41319a544ca9c4e83622f226055ccfcb35974fbb55ed34"
 "checksum stable_deref_trait 1.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "dba1a27d3efae4351c8051072d619e3ade2820635c3958d826bfea39d59b54c8"
-"checksum syn 0.15.33 (registry+https://github.com/rust-lang/crates.io-index)" = "ec52cd796e5f01d0067225a5392e70084acc4c0013fa71d55166d38a8b307836"
+"checksum static_assertions 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)" = "c19be23126415861cb3a23e501d34a708f7f9b2183c5252d690941c2e69199d5"
-"checksum time 0.1.42 (registry+https://github.com/rust-lang/crates.io-index)" = "db8dcfca086c1143c9270ac42a2bbd8a7ee477b78ac8e45b19abfb0cbede4b6f"
+"checksum syn 0.15.34 (registry+https://github.com/rust-lang/crates.io-index)" = "a1393e4a97a19c01e900df2aec855a29f71cf02c402e2f443b8d2747c25c5dbe"
-"checksum toml 0.4.10 (registry+https://github.com/rust-lang/crates.io-index)" = "758664fc71a3a69038656bee8b6be6477d2a6c315a6b81f7081f591bffa4111f"
 "checksum typenum 1.10.0 (registry+https://github.com/rust-lang/crates.io-index)" = "612d636f949607bdf9b123b4a6f6d966dedf3ff669f7f045890d3a4a73948169"
-"checksum unicode-bidi 0.3.4 (registry+https://github.com/rust-lang/crates.io-index)" = "49f2bd0c6468a8230e1db229cff8029217cf623c767ea5d60bfbd42729ea54d5"
-"checksum unicode-normalization 0.1.8 (registry+https://github.com/rust-lang/crates.io-index)" = "141339a08b982d942be2ca06ff8b076563cbe223d1befd5450716790d44e2426"
 "checksum unicode-xid 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "fc72304796d0818e357ead4e000d19c9c174ab23dc11093ac919054d20a6a7fc"
-"checksum url 1.7.2 (registry+https://github.com/rust-lang/crates.io-index)" = "dd4e7c0d531266369519a4aa4f399d748bd37043b00bde1e4ff1f60a120b355a"
 "checksum vcell 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "45c297f0afb6928cd08ab1ff9d95e99392595ea25ae1b5ecf822ff8764e57a0d"
-"checksum vcpkg 0.2.6 (registry+https://github.com/rust-lang/crates.io-index)" = "def296d3eb3b12371b2c7d0e83bfe1403e4db2d7a0bba324a12b21c4ee13143d"
 "checksum volatile-register 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0d67cb4616d99b940db1d6bd28844ff97108b498a6ca850e5b6191a532063286"
-"checksum winapi 0.3.7 (registry+https://github.com/rust-lang/crates.io-index)" = "f10e386af2b13e47c89e7236a7a14a086791a2b88ebad6df9bf42040195cf770"
-"checksum winapi-i686-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
-"checksum winapi-x86_64-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"

Cargo.toml

@@ -33,6 +33,13 @@ cortex-m-log = { version = "0.5", features = ["log-integration"] }
 log = "0.4"
 panic-abort = "0.3"
 panic-semihosting = { version = "0.5.2", optional = true }
+serde-json-core = { version = "0.0" }
+serde = { version = "1.0", features = ["derive"], default-features = false }
+heapless = { version = "0.4" }
+
+[patch.crates-io]
+serde-json-core = { path = "../serde-json-core" }
+lexical-core = { path = "../rust-lexical/lexical-core" }
 
 [dependencies.stm32h7]
 path = "../stm32-rs/stm32h7"
@@ -49,9 +56,6 @@ default-features = false
 semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
 bkpt = [ ]
 
-[build-dependencies]
-built = "0.3"
-
 [profile.dev]
 codegen-units = 1
 incremental = false

README.md

@@ -1,5 +1,9 @@
 # Stabilizer Firmware
 
+![Flow diagram](stabilizer_pid.svg)
+
+![Hardware](https://github.com/sinara-hw/Stabilizer/wiki/Stabilizer_v1.0_top_small.jpg)
+
 ## Features
 
 * dual channel

build.rs

@@ -1,19 +0,0 @@
-extern crate built;
-
-use std::env;
-use std::fs::File;
-use std::io::Write;
-use std::path::PathBuf;
-
-fn main() {
-    // Gather build information
-    built::write_built_file().expect("Failed to acquire build-time information");
-
-    // Put the linker script somewhere the linker can find it
-    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
-    File::create(out.join("memory.x"))
-        .unwrap()
-        .write_all(include_bytes!("memory.x"))
-        .unwrap();
-    println!("cargo:rustc-link-search={}", out.display());
-}

default.nix

@@ -0,0 +1,32 @@
+{ # Use master branch of the overlay by default
+  mozillaOverlay ? import (builtins.fetchTarball https://github.com/mozilla/nixpkgs-mozilla/archive/master.tar.gz),
+  rustManifest ? builtins.fetchurl "https://static.rust-lang.org/dist/channel-rust-nightly.toml"
+}:
+
+let
+  pkgs = import <nixpkgs> { overlays = [ mozillaOverlay ]; };
+in
+with pkgs;
+let
+  rustPlatform = recurseIntoAttrs (callPackage ./nix/rustPlatform.nix {
+    inherit rustManifest;
+  });
+  stabilizer = callPackage ./nix/stabilizer.nix { inherit rustPlatform; };
+in
+stdenv.mkDerivation {
+  name = "stabilizer-dist";
+  buildInputs = [ stabilizer ];
+  src = ./.;
+  dontBuild = true;
+
+  installPhase =
+    let
+      firmwareBinary = "$out/lib/stabilizer.elf";
+    in ''
+      mkdir -p $out/bin $out/lib $out/nix-support
+
+      ln -s ${stabilizer}/lib/stabilizer ${firmwareBinary}
+
+      echo file binary-dist ${firmwareBinary} >> $out/nix-support/hydra-build-products
+    '';
+}

nix/fetchcargo.nix

@@ -0,0 +1,49 @@
+{ stdenv, cacert, git, cargo, cargo-vendor }:
+{ name, src, sha256 }:
+let
+  # `src` restricted to the two files that define dependencies
+  cargoOnlySrc = stdenv.mkDerivation {
+    name = "${name}-cargo";
+    inherit src;
+    phases = "installPhase";
+    installPhase = ''
+      mkdir $out
+      cp ${src}/Cargo.{toml,lock} $out/
+      mkdir $out/src
+      touch $out/src/main.rs
+    '';
+  };
+in
+stdenv.mkDerivation {
+  name = "${name}-vendor";
+  nativeBuildInputs = [ cacert git cargo cargo-vendor ];
+  src = cargoOnlySrc;
+
+  phases = "unpackPhase patchPhase installPhase";
+
+  installPhase = ''
+    if [[ ! -f Cargo.lock ]]; then
+        echo
+        echo "ERROR: The Cargo.lock file doesn't exist"
+        echo
+        echo "Cargo.lock is needed to make sure that cargoSha256 doesn't change"
+        echo "when the registry is updated."
+        echo
+
+        exit 1
+    fi
+
+    export CARGO_HOME=$(mktemp -d cargo-home.XXX)
+
+    cargo vendor
+
+    cp -ar vendor $out
+  '';
+
+  outputHashAlgo = "sha256";
+  outputHashMode = "recursive";
+  outputHash = sha256;
+
+  impureEnvVars = stdenv.lib.fetchers.proxyImpureEnvVars;
+  preferLocalBuild = true;
+}

nix/rustPlatform.nix

@@ -0,0 +1,23 @@
+{ recurseIntoAttrs, stdenv, lib,
+  makeRustPlatform,
+  fetchurl, patchelf,
+  rustManifest ? ./channel-rust-nightly.toml
+}:
+
+let
+  targets = [
+    "thumbv7em-none-eabihf"
+  ];
+  rustChannel =
+    lib.rustLib.fromManifestFile rustManifest {
+      inherit stdenv fetchurl patchelf;
+    };
+  rust =
+    rustChannel.rust.override {
+      inherit targets;
+    };
+in
+makeRustPlatform {
+  rustc = rust;
+  cargo = rust;
+}

nix/stabilizer.nix

@@ -0,0 +1,45 @@
+{ stdenv, rustPlatform, cacert, git, cargo-vendor }:
+
+with rustPlatform;
+let
+  sha256 = "1m4cxf6c4lh28xv4iagp20ni97cya1f12yg58q0m733qahk8gncb";
+  fetchcargo = import ./fetchcargo.nix {
+    inherit stdenv cacert git cargo-vendor;
+    inherit (rust) cargo;
+  };
+  stabilizerDeps = fetchcargo {
+    name = "stabilizer";
+    src = ../.;
+    inherit sha256;
+  };
+in
+
+buildRustPackage rec {
+  name = "stabilizer";
+  version = "0.0.0";
+
+  src = ../.;
+  cargoSha256 = sha256;
+
+  buildInputs = [ stabilizerDeps ];
+  patchPhase = ''
+    cat >> .cargo/config <<EOF
+    [source.crates-io]
+    replace-with = "vendored-sources"
+
+    [source.vendored-sources]
+    directory = "${stabilizerDeps}"
+    EOF
+  '';
+
+  buildPhase = ''
+    export CARGO_HOME=$(mktemp -d cargo-home.XXX)
+    cargo build --release
+  '';
+
+  doCheck = false;
+  installPhase = ''
+    mkdir -p $out/lib
+    cp target/thumbv7em-none-eabihf/release/stabilizer $out/lib/
+  '';
+}

release.nix

@@ -0,0 +1,15 @@
+# For running on Hydra
+{ pkgs ? import <nixpkgs> {},
+  rustManifest ? ./nix/channel-rust-nightly.toml
+}:
+
+with pkgs;
+let
+  stabilizer = callPackage ./default.nix {
+    inherit rustManifest;
+    mozillaOverlay = import <mozillaOverlay>;
+  };
+in
+{
+  build = lib.hydraJob stabilizer;
+}

src/iir.rs

@@ -1,10 +1,11 @@
 use core::ops::{Add, Mul};
+use serde::{Serialize, Deserialize};
 
 use core::f32;
 
 pub type IIRState = [f32; 5];
 
-#[derive(Copy,Clone)]
+#[derive(Copy,Clone,Deserialize,Serialize)]
 pub struct IIR {
     pub ba: IIRState,
     pub y_offset: f32,

src/main.rs

@@ -14,14 +14,18 @@ extern crate log;
 
 use core::ptr;
 use core::cell::RefCell;
-use core::fmt::Write;
 use core::sync::atomic::{AtomicU32, AtomicBool, Ordering};
+use core::fmt::Write;
 use cortex_m_rt::{entry, exception};
 use stm32h7::stm32h7x3::{self as stm32, Peripherals, CorePeripherals, interrupt};
 use cortex_m::interrupt::Mutex;
+use heapless::{String, Vec, consts::*};
 
 use smoltcp as net;
 
+use serde::{Serialize, Deserialize};
+use serde_json_core::{ser::to_string, de::from_slice};
+
 mod eth;
 
 mod iir;
@@ -50,7 +54,7 @@ fn init_log() {
 // Pull in build information (from `built` crate)
 mod build_info {
     #![allow(dead_code)]
-    include!(concat!(env!("OUT_DIR"), "/built.rs"));
+    // include!(concat!(env!("OUT_DIR"), "/built.rs"));
 }
 
 fn pwr_setup(pwr: &stm32::PWR) {
@@ -625,6 +629,7 @@ fn main() -> ! {
     let mut socket_set_entries: [_; 8] = Default::default();
     let mut sockets = net::socket::SocketSet::new(&mut socket_set_entries[..]);
     create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle0);
+    create_socket!(sockets, tcp_rx_storage0, tcp_tx_storage0, tcp_handle1);
 
     unsafe { eth::enable_interrupt(&dp.ETHERNET_DMA); }
     unsafe { cp.NVIC.set_priority(stm32::Interrupt::ETH, 196); }  // mid prio
@@ -645,16 +650,28 @@ fn main() -> ! {
         {
             let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle0);
             if !(socket.is_open() || socket.is_listening()) {
-                socket.listen(80).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
+                socket.listen(1234).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
             } else if last != time && socket.can_send() {
                 last = time;
-                let (x0, y0, x1, y1) = unsafe {
+                let s = unsafe { Status{
-                    (IIR_STATE[0][0], IIR_STATE[0][2], IIR_STATE[1][0], IIR_STATE[1][2]) };
+                    t: time,
-                writeln!(socket, "t={} x0={:.1} y0={:.1} x1={:.1} y1={:.1}",
+                    x0: IIR_STATE[0][0],
-                         time, x0, y0, x1, y1)
+                    y0: IIR_STATE[0][2],
-                    .unwrap_or_else(|e| warn!("TCP send error: {:?}", e));
+                    x1: IIR_STATE[1][0],
+                    y1: IIR_STATE[1][2],
+                }};
+                send_response(socket, &s);
             }
         }
+        {
+            let socket = &mut *sockets.get::<net::socket::TcpSocket>(tcp_handle1);
+            if !(socket.is_open() || socket.is_listening()) {
+                socket.listen(1235).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
+            } else {
+                handle_command(socket);
+            }
+        }
+
         if !match iface.poll(&mut sockets, net::time::Instant::from_millis(time as i64)) {
             Ok(changed) => changed,
             Err(net::Error::Unrecognized) => true,
@@ -665,6 +682,73 @@ fn main() -> ! {
     }
 }
 
+#[derive(Deserialize,Serialize)]
+struct Request {
+    channel: i8,
+    iir: IIR,
+}
+
+#[derive(Serialize)]
+struct Response<'a> {
+    code: i32,
+    message: &'a str,
+}
+
+fn send_response<T: Serialize>(socket: &mut net::socket::TcpSocket, msg: &T) {
+    let mut u: String<U128> = to_string(msg).unwrap();
+    u.push('\n').unwrap();
+    socket.write_str(&u).unwrap();
+}
+
+fn handle_command(socket: &mut net::socket::TcpSocket) {
+    let mut data: Vec<u8, U256> = Vec::new();
+    let mut discard: bool = false;
+    while socket.can_recv() {
+        if socket.recv(|buf| {
+            let (len, found) = match buf.iter().position(|&c| c as char == '\n') {
+                Some(end) => (end + 1, true),
+                None => (buf.len(), false),
+            };
+            if data.len() + len >= data.capacity() {
+                discard = true;
+                data.clear();
+            } else if !discard && len > 0 {
+                data.extend_from_slice(&buf[..len - 1]).unwrap();
+            }
+            (len, found)
+        }).unwrap() {
+            let resp = if discard {
+                discard = false;
+                Response{ code: 500, message: "command buffer overflow" }
+            } else {
+                match from_slice::<Request>(&data) {
+                    Ok(request) => {
+                        cortex_m::interrupt::free(|_| {
+                            unsafe { IIR_CH[request.channel as usize] = request.iir; };
+                        });
+                        Response{ code: 200, message: "ok" }
+                    },
+                    Err(err) => {
+                        warn!("parse error {}", err);
+                        Response{ code: 550, message: "parse error" }
+                    },
+                }
+            };
+            send_response(socket, &resp);
+            socket.close();
+        }
+    }
+}
+
+#[derive(Serialize)]
+struct Status {
+    t: u32,
+    x0: f32,
+    y0: f32,
+    x1: f32,
+    y1: f32
+}
+
 const SCALE: f32 = ((1 << 15) - 1) as f32;
 static mut IIR_STATE: [IIRState; 2] = [[0.; 5]; 2];
 static mut IIR_CH: [IIR; 2] = [

stabilizer.py

@@ -0,0 +1,104 @@
+import json
+import asyncio
+from collections import OrderedDict
+import logging
+
+import numpy as np
+
+logger = logging.getLogger()
+
+
+class StabilizerError(Exception):
+    pass
+
+
+class StabilizerConfig:
+    async def connect(self, host, port=1235):
+        self.reader, self.writer = await asyncio.open_connection(host, port)
+
+    async def set(self, channel, iir):
+        up = OrderedDict([("channel", channel), ("iir", iir.as_dict())])
+        s = json.dumps(up, separators=(",", ":"))
+        assert "\n" not in s
+        logger.debug("send %s", s)
+        self.writer.write(s.encode() + b"\n")
+        r = (await self.reader.readline()).decode()
+        logger.debug("recv %s", r)
+        ret = json.loads(r, object_pairs_hook=OrderedDict)
+        if ret["code"] != 200:
+            raise StabilizerError(ret)
+        return ret
+
+
+class IIR:
+    t_update = 2e-6
+
+    def __init__(self):
+        self.ba = np.zeros(5, np.float32)
+        self.y_offset = 0.
+        self.y_min = -float(1 << 15)
+        self.y_max = float(1 << 15) - 1
+
+    def as_dict(self):
+        iir = OrderedDict()
+        iir["ba"] = [float(_) for _ in self.ba]
+        iir["y_offset"] = self.y_offset
+        iir["y_min"] = self.y_min
+        iir["y_max"] = self.y_max
+        return iir
+
+    def configure_pi(self, kp, ki, g=0.):
+        ki = np.copysign(ki, kp)*self.t_update*2
+        g = np.copysign(g, kp)
+        eps = np.finfo(np.float32).eps
+        if abs(ki) < eps:
+            a1, b0, b1 = 0., kp, 0.
+        else:
+            if abs(g) < eps:
+                c = 1.
+            else:
+                c = 1./(1. + ki/g)
+            a1 = 2*c - 1.
+            b0 = ki*c + kp
+            b1 = ki*c - a1*kp
+            if abs(b0 + b1) < eps:
+                raise ValueError("low integrator gain and/or gain limit")
+        self.ba[0] = b0
+        self.ba[1] = b1
+        self.ba[2] = 0.
+        self.ba[3] = a1
+        self.ba[4] = 0.
+
+    def set_x_offset(self, o):
+        b = self.ba[:3].sum()
+        self.y_offset = b*o
+
+
+if __name__ == "__main__":
+    import argparse
+    p = argparse.ArgumentParser()
+    p.add_argument("-s", "--stabilizer", default="10.0.16.99")
+    p.add_argument("-c", "--channel", default=0, type=int,
+                   help="Stabilizer channel to configure")
+    p.add_argument("-o", "--offset", default=0., type=float,
+                   help="X offset, in ADC LSB")
+    p.add_argument("-p", "--proportional-gain", default=1., type=float,
+                   help="Proportional gain, in DAC LSB/ADC LSB")
+    p.add_argument("-i", "--integral-gain", default=0., type=float,
+                   help="Integral gain, in DAC LSB/(ADC LSB*s)")
+
+    args = p.parse_args()
+
+    loop = asyncio.get_event_loop()
+    # loop.set_debug(True)
+    logging.basicConfig(level=logging.DEBUG)
+
+    async def main():
+        i = IIR()
+        i.configure_pi(args.proportional_gain, args.integral_gain)
+        i.set_x_offset(args.offset)
+        s = StabilizerConfig()
+        await s.connect(args.stabilizer)
+        r = await s.set(0, i)
+
+    loop.run_until_complete(main())