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Merge #187

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187: Added cascaded IIR with server commands for up to 2 cascaded IIRs per… r=jordens a=nkuh

… channel.

Note: If the number of cascaded IIRs is set to 1 the still existent server commands for the unused 2nd cascade level will be aliases for the 1st level. 

Co-authored-by: Niklas Kuhrmeyer <niklas.kuhrmeyer@ptb.de>
Co-authored-by: Robert Jördens <rj@quartiq.de>
This commit is contained in:
bors[bot] 2020-12-04 18:21:54 +00:00 committed by GitHub
commit e87376314f
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1 changed files with 54 additions and 12 deletions
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66
src/main.rs
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@ -60,6 +60,9 @@ const SAMPLE_FREQUENCY_KHZ: u32 = 500;
// The desired ADC sample processing buffer size.
const SAMPLE_BUFFER_SIZE: usize = 1;
// The number of cascaded IIR biquads per channel. Select 1 or 2!
const IIR_CASCADE_LENGTH: usize = 1;
#[link_section = ".sram3.eth"]
static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
@ -210,10 +213,11 @@ const APP: () = {
pounder: Option<pounder::PounderDevices<asm_delay::AsmDelay>>,
#[init([[0.; 5]; 2])]
iir_state: [iir::IIRState; 2],
#[init([iir::IIR { ba: [1., 0., 0., 0., 0.], y_offset: 0., y_min: -SCALE - 1., y_max: SCALE }; 2])]
iir_ch: [iir::IIR; 2],
// Format: iir_state[ch][cascade-no][coeff]
#[init([[[0.; 5]; IIR_CASCADE_LENGTH]; 2])]
iir_state: [[iir::IIRState; IIR_CASCADE_LENGTH]; 2],
#[init([[iir::IIR { ba: [1., 0., 0., 0., 0.], y_offset: 0., y_min: -SCALE - 1., y_max: SCALE }; IIR_CASCADE_LENGTH]; 2])]
iir_ch: [[iir::IIR; IIR_CASCADE_LENGTH]; 2],
}
#[init]
@ -761,8 +765,11 @@ const APP: () = {
for channel in 0..adc_samples.len() {
for sample in 0..adc_samples[0].len() {
let x = f32::from(adc_samples[channel][sample] as i16);
let y = c.resources.iir_ch[channel]
.update(&mut c.resources.iir_state[channel], x);
let mut y = x;
for i in 0..c.resources.iir_state[channel].len() {
y = c.resources.iir_ch[channel][i]
.update(&mut c.resources.iir_state[channel][i], y);
}
// Note(unsafe): The filter limits ensure that the value is in range.
// The truncation introduces 1/2 LSB distortion.
let y = unsafe { y.to_int_unchecked::<i16>() };
@ -827,10 +834,23 @@ const APP: () = {
let state = c.resources.iir_state.lock(|iir_state|
server::Status {
t: time,
x0: iir_state[0][0],
y0: iir_state[0][2],
x1: iir_state[1][0],
y1: iir_state[1][2],
x0: iir_state[0][0][0],
y0: iir_state[0][0][2],
x1: iir_state[1][0][0],
y1: iir_state[1][0][2],
});
Ok::<server::Status, ()>(state)
}),
// "_b" means cascades 2nd IIR
"stabilizer/iir_b/state": (|| {
let state = c.resources.iir_state.lock(|iir_state|
server::Status {
t: time,
x0: iir_state[0][IIR_CASCADE_LENGTH-1][0],
y0: iir_state[0][IIR_CASCADE_LENGTH-1][2],
x1: iir_state[1][IIR_CASCADE_LENGTH-1][0],
y1: iir_state[1][IIR_CASCADE_LENGTH-1][2],
});
Ok::<server::Status, ()>(state)
@ -880,7 +900,7 @@ const APP: () = {
return Err(());
}
iir_ch[req.channel as usize] = req.iir;
iir_ch[req.channel as usize][0] = req.iir;
Ok::<server::IirRequest, ()>(req)
})
@ -891,7 +911,29 @@ const APP: () = {
return Err(());
}
iir_ch[req.channel as usize] = req.iir;
iir_ch[req.channel as usize][0] = req.iir;
Ok::<server::IirRequest, ()>(req)
})
}),
"stabilizer/iir_b0/state": server::IirRequest, (|req: server::IirRequest| {
c.resources.iir_ch.lock(|iir_ch| {
if req.channel > 1 {
return Err(());
}
iir_ch[req.channel as usize][IIR_CASCADE_LENGTH-1] = req.iir;
Ok::<server::IirRequest, ()>(req)
})
}),
"stabilizer/iir_b1/state": server::IirRequest,(|req: server::IirRequest| {
c.resources.iir_ch.lock(|iir_ch| {
if req.channel > 1 {
return Err(());
}
iir_ch[req.channel as usize][IIR_CASCADE_LENGTH-1] = req.iir;
Ok::<server::IirRequest, ()>(req)
})